Gotting HG G-98830YA User manual

Transponder Antenna
HG G-98830YA
2-dimensional Position Detection & Identification
Outdoor, flat Design
English, Revision 02 Date: 21.06.2021 Dev. by: WM Author(s): RAD / AF
Operating Manual HG G-98830YA
Transponder
Innovation through Guidance www.goetting-agv.com

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
2Overview
Basic characteristics of the transponder antenna HG G-98830YA:
Transponder antenna for Automated Guided Vehicles (AGV)
Flat casing, sealed electronics
Indoor & outdoor, IP 64
Mounting directly on or flush with metal
Reading distance 20 to 80 mm, nominal reading distance 50 mm
Active area for positioning 200 mm x 200 mm
Max. crossing speed 4 m/s
Voltage supply 18 - 36 V, current consumption max. 1 A when programming
transponders, typically 300 mA @ 24 V
Connectors: 3 x M12 5 pin, A coded: 1x Power (incl. serial RS 232 + PosiPulse) /
2x CAN
CAN module according to CAN specification V2.0 part B, standard / extended
frames or CANopen®
PosiPulse when crossing the middle axis in direction of travel, 24 V 20 mA
power source, not isolated
Serial interface either usable as service interface for the configuration (default,
also for firmware updates) or data interface (telegram contents can be config-
ured)
Programming of Transponders
© 2021 Götting KG, errors and modifications reserved.
The Götting KG in D-31275 Lehrte has
a certified quality management system
according to ISO 9001.

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
3
Table of Contents
Contents
1 About this Operating Manual ........................................................... 6
1.1 Validity...................................................................................................................................... 6
1.1.1 Target group ...................................................................................................................... 6
1.1.2 Additional Applicable Documents ............................................................................... 6
1.2 Declaration of conformity .................................................................................................. 7
1.3 Presentation of Information .............................................................................................. 7
1.3.1 Warning Notices ............................................................................................................... 7
1.3.2 Symbols ............................................................................................................................... 8
1.4 Definitions ............................................................................................................................... 9
1.4.1 Reading and Mounting Side .......................................................................................... 9
1.4.2 Coordinate System of the Antenna............................................................................. 9
1.5 Abbreviations .......................................................................................................................10
2 Safety Instructions ......................................................................... 11
2.1 Intended Use ........................................................................................................................11
2.2 Improper Use........................................................................................................................11
2.3 User Qualification ...............................................................................................................12
2.4 General Safety Instructions ............................................................................................. 12
2.5 Obligations of the Operator ............................................................................................. 13
3 Scope of Delivery ............................................................................ 14
3.1 Required Accessories ........................................................................................................14
3.2 Optional Accessories .........................................................................................................15
4 Device Overview ............................................................................. 16
4.1 System Components..........................................................................................................16
4.2 Components in the Ground ............................................................................................. 16
4.2.1 Transponders ...................................................................................................................16
4.2.2 Structure of the Transponder Code .......................................................................... 17
4.3 Transponder Antenna ........................................................................................................17
5 Operating Principle ......................................................................... 18
5.1 Position Detection with Transponders ......................................................................... 18
5.2 Track Guidance with Transponders .............................................................................. 19
5.3 Position Detection with a Navigation Controller....................................................... 20
6 Storage ............................................................................................ 22
7 Mounting ......................................................................................... 23
7.1 Mounting the Transponders ............................................................................................ 23
7.1.1 Operating Conditions for Transponders .................................................................. 23
7.2 Preparation of Connection Cables................................................................................. 24
7.2.1 Connecting POWER .......................................................................................................24
7.2.2 Connecting the CAN bus..............................................................................................24
7.3 Mounting the Transponder Antenna .............................................................................25
7.3.1 Operating Conditions of the Antenna ......................................................................25
7.3.2 Minimum Distance Between Antenna and Transponder ..................................25
7.3.3 Minimum Distance Between Identical Transponder Antennas ........................ 26
7.3.4 Minimum Distance to Current-Carrying Wires Around the Transpon-
der Antenna......................................................................................................................26
7.3.5 Connection Example......................................................................................................27
7.3.6 Mounting the Antenna on the Vehicle ..................................................................... 28
7.3.7 Antenna Switch-On .......................................................................................................30
8 Commissioning ............................................................................... 31
8.1 Connecting the Antenna to a Computer ......................................................................31
8.2 Configuring the Terminal Program................................................................................ 32

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
4Table of Contents
8.3 Configuring the Antenna (Monitor Program)..............................................................33
8.3.1 Set Parameters................................................................................................................33
8.3.2 Minimize Interferences .................................................................................................33
8.4 Finish Commissioning .......................................................................................................33
9 Interfaces.........................................................................................35
9.1 PosiPulse ...............................................................................................................................35
9.2 Serial Interface (RS232)....................................................................................................35
9.2.1 List of system values that can be output ................................................................36
9.2.2 List of System Commands ...........................................................................................38
9.3 CAN Bus .................................................................................................................................41
9.3.1 Definitions CAN and CANopen® ................................................................................41
9.3.2 Operating Modes and States.......................................................................................42
9.4 CAN .........................................................................................................................................43
9.4.1 CAN Message Object – Y-Identifier, Send Object ................................................43
9.4.2 CAN Message Object – X-Identifier, Send Object ................................................43
9.4.3 CAN Message Object – D-Identifier, Send Object ................................................43
9.4.4 CAN Message Object – P-Identifier, Send Object ................................................44
9.4.5 CAN Message Object – S-Identifier, Send Object ................................................44
9.4.6 CAN Message Object – Programming, Receive Object ......................................44
9.5 CANopen®.............................................................................................................................44
9.5.1 Description of the Process Data Objects (PDO) ....................................................45
9.5.2 Heartbeat...........................................................................................................................46
9.5.3 Node-Guarding ................................................................................................................46
9.5.4 Description of Service Data-Objects (SDOs)..........................................................46
9.5.5 Object Directory ..............................................................................................................47
10 Configuration of the System via the Service Interface ................48
10.1 Starting the Monitor Program .........................................................................................48
10.1.1 Procedure Monitor Only ...............................................................................................48
10.1.2 Procedure 3964R or Procedure Transparent .........................................................48
10.2 Using the Monitor Program .............................................................................................50
10.2.1 Main Menu ........................................................................................................................50
10.2.2 Display of System Variables and Status Messages..............................................51
10.2.3 Activate Sub Menus .......................................................................................................52
10.2.4 Setting and Permanently Saving Parameters ........................................................52
10.2.5 (S)erial Output .................................................................................................................52
10.2.6 (T)ime & Code ..................................................................................................................56
10.2.7 (F)requency & Antenna Tuning...................................................................................60
10.2.8 Basic C(A)N-Parameters ...............................................................................................62
10.2.9 CA(N)-Open-Parameters...............................................................................................65
10.2.10 (D)isplay Systemstatus..................................................................................................69
10.2.11 Cs(v) ....................................................................................................................................69
10.2.12 (Y) display Histogram.....................................................................................................70
10.2.13 (W)rite Transponder .......................................................................................................71
10.2.14 (L)oad values to EEProm ..............................................................................................71
10.2.15 (U)pdate Firmware..........................................................................................................72
10.2.16 (1) Import / (2) Export User Parameter ....................................................................72
10.2.17 P(r)int Parameters ..........................................................................................................73
11 Update the Antenna Software .......................................................74
11.1 Setting up the Update Program......................................................................................74
11.2 Updating the Software ......................................................................................................74
12 Maintenance ....................................................................................76
13 Disposal ...........................................................................................77
14 Troubleshooting ..............................................................................78
14.1 Error table..............................................................................................................................78
14.2 Reducing Interferences .....................................................................................................79
14.2.1 Which Interfering Influences are There?.................................................................79
14.2.2 What happens when Crossing a Transponder?.....................................................79

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
5
Table of Contents
14.2.3 Setting Positioning Thresholds ..................................................................................80
15 Technical Data ................................................................................ 83
15.1 General Data.........................................................................................................................83
15.2 Electrical Data......................................................................................................................83
15.3 Scale Drawing of the Antenna with Dimensions ...................................................... 85
16 Appendix.......................................................................................... 86
16.1 Signal Strength and Accuracy of Position Calculation ........................................... 86
16.2 Procedure 3964R ................................................................................................................87
16.2.1 Data Direction Antenna –> PLC ................................................................................. 87
16.2.2 Data Direction PLC –> Antenna ................................................................................. 88
16.3 Procedure transparent ......................................................................................................88
16.3.1 Data Direction Antenna –> PLC ................................................................................. 89
16.3.2 Data Direction PLC –> Antenna ................................................................................. 89
16.4 Overview of the CANopen® Directory ......................................................................... 89
16.4.1 Communication Specific Entries within the Range of 0x1000 to
0x1FFF ...............................................................................................................................89
16.4.2 Manufacturer Specific Entries Starting at 0x2000 ..............................................91
16.4.3 Standardized Device Profile from 0x6000.............................................................. 91
16.5 Details of the CANopen® directory ............................................................................... 92
16.5.1 Device type.......................................................................................................................92
16.5.2 Error Register...................................................................................................................92
16.5.3 COB-ID SYNC Message ................................................................................................92
16.5.4 Device name ....................................................................................................................92
16.5.5 Hardware-Version...........................................................................................................92
16.5.6 Software-Version............................................................................................................92
16.5.7 Save Parameters.............................................................................................................93
16.5.8 Restore Default Parameters ........................................................................................93
16.5.9 Producer Heartbeat Time............................................................................................. 93
16.5.10 Identity Object .................................................................................................................94
16.5.11 Transmit PDO_1 Parameter ........................................................................................94
16.5.12 Transmit PDO_2 Parameter ........................................................................................94
16.5.13 Transmit PDO_3 Parameter ........................................................................................95
16.5.14 Mapping TPDO_1 ...........................................................................................................95
16.5.15 Mapping TPDO_2 ...........................................................................................................95
16.5.16 Mapping TPDO_3 ...........................................................................................................96
16.5.17 Device Parameters .........................................................................................................97
16.5.18 Codes Relevant in CANopen® for System Configuration .................................. 98
16.5.19 Manufacturer Parameters – Node Parameters ..................................................... 98
16.5.20 Bit Digital Input (Transmission in TPDO_2) ..........................................................99
16.5.21 16 Bit Status (Transmission in TPDO_1).................................................................99
16.5.22 32-Bit-Transponder-Code ............................................................................................ 99
16.5.23 8-Bit Analog Inputs ........................................................................................................99
16.5.24 16-Bit-Analog-Inputs .................................................................................................. 100
16.6 CAN EDS Configuration File ......................................................................................... 100
16.7 Glossary .............................................................................................................................. 100
17 List of Figures ...............................................................................101
18 List of Tables .................................................................................103
19 Index ..............................................................................................105
20 Copyright and Terms of Liability ................................................. 108
20.1 Copyright ............................................................................................................................ 108
20.2 Exclusion of Liability ....................................................................................................... 108
20.3 Trade Marks and Company Names ............................................................................ 108

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
6Chapter 1 – About this Operating Manual
1About this Operating Manual
1.1 Validity
This operating manual applies to the transponder antenna HG G-98830YA.
The manual comprises information on correct mounting, electrical installation, com-
missioning, operation, maintenance and troubleshooting.
This operating manual refers to devices from Firmware 98830A21.004 (see Figure
23 on page 50).
1.1.1 Target group
This operating manual is intended for
developers, manufacturers or operators of systems who want to position mov-
ing parts or automatically guide vehicles with the support of the transponder
antenna HG G-98830YA,
any technical staff of a manufacturer planning to integrate the transponder
antenna into an Automated Guided Vehicle (AGV) or to use the RFID-based
position detection and identification function in another way,
qualified persons who integrate the transponder antenna into a vehicle or
mobile robot, put it into operation for the first time or configure it.
1.1.2 Additional Applicable Documents
This manual does not provide any information concerning the operation of the high-
er-level system, e.g. an Automated Guided Vehicle (AGV), in which the transponder
antenna is integrated.
Do not put the transponder antenna into operation until you have received the
manual of the manufacturer or the system operator and have read and
understood them.
Supplementary documents are available on request or directly from
our website. The QR code on the right takes you to our homepage
www.goetting-agv.com.de. The following links refer to specific product
pages.
–Disc transponder HW DEV00095/00098
http://www.goetting-agv.com/components/00095
–Rod transponder HG G-71325XA
http://www.goetting-agv.com/components/71325
–Transponder programming device HG G-81840
http://www.goetting-agv.com/components/81840
–Navigation controller HG G-73650 (optional)
http://www.goetting-agv.com/components/73650

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
7
About this Operating Manual – Chapter 1
1.2 Declaration of conformity
This product complies with the relevant European Union harmonization legislation.
The relevant harmonized European standards and directives stated in the Declara-
tion of Conformity were used for the compliance assessment.
You can obtain the EU Declaration of Conformity from Götting or by
downloading it from the following link.
http://www.goetting-agv.com/components/98830
1.3 Presentation of Information
For you to be able to use your product simply and safely this device description uses
consistent warning notices, symbols, terms and abbreviations. Those are described
in the following sections.
1.3.1 Warning Notices
In these operating instructions, warnings are given before a sequence of actions
which poses a risk of personal injury or damage to property. The measures described
must be observed.
Warning notices have the following structure:
The warning symbol (warning triangle) indicates danger to life or risk of injury.
The signal word indicates the severity of the danger.
The paragraph kind or source of the danger names the kind or source of the
danger.
The paragraph consequences describes the consequences of not heeding the
warning.
The paragraphs for danger prevention explain, how to avoid the danger.
SIGNAL WORD
Kind or source of the hazard
Consequences
Hazard prevention

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
8Chapter 1 – About this Operating Manual
The signal words have the following meanings:
1.3.2 Symbols
In this device description the following symbols and formatting are used:
If this information is ignored,
the product may not be operated in an optimal way.
Indicates one or more links to the Internet.
–www.goetting.de/xxx
–www.goetting.de/yyy
Indicates tips for easier
operation of the product.
The check mark lists a requirement.
The arrow shows an action step.
The indentation shows the result of an action or an action sequence.
Program texts and variables are indicated through the use of a fixed width
font.
Menu items and parameters are shown in cursive characters.
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 working).
Table 1 Hazard classification according to ANSI Z535.6-2006
Warning Symbol, Signal Word Meaning
DANGER
DANGER indicates a hazardous situation
which, if not avoided, will result in death or
serious injury.
WARNING
WARNING indicates a hazardous situation
which, if not avoided, could result in death or
serious injury.
CAUTION
CAUTION indicates a hazardous situation
which, if not avoided, could result in minor or
moderate injury.
NOTICE
NOTICE indicates property damage: The
product or the environment could be dam-
aged.

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
9
About this Operating Manual – Chapter 1
1.4 Definitions
1.4.1 Reading and Mounting Side
The large metal side is the mounting side for installing the antenna e.g. on a
vehicle.
The sealed side is the reading side, which has to face the transponder. When
mounted under an AGV, it has to point towards the ground.
Figure 1 Figure 1 Reading and mounting side of the transponder antenna
1.4.2 Coordinate System of the Antenna
The signs and coordinates given in this operating manual are defined as shown in
the following figure:
Figure 2 Output polarity (for sign and coordinate output)
Mounting side
Reading side
(opposite the mounting side)
Reading side
+X
–X
+Y
-Y
(usually
direction of
Active area for posi-
tion detection travel)
Crossing the Y-axis during movement in direction +X or
-X triggers PosiPuls, see section 9.1 on page 35

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
10 Chapter 1 – About this Operating Manual
1.5 Abbreviations
Table 2 Abbreviations
Abbreviation Meaning
CAN Controller Area Network
CANopen® Controller Area Network open
EDS Electronic Data Sheet
AGV Automated Guided Vehicle
PDO Process Data Object
RFID Radio-Frequency Identification
SDO Service Data Object
PLC Programmable Logic Controller or PC that performs control
functions

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
11
Safety Instructions – Chapter 2
2Safety Instructions
Our product has been designed and manufactured in accordance with the generally
recognized rules of technology. Nevertheless, there is a risk of personal injury and
damage to property if you do not observe this chapter and the safety instructions in
this documentation.
Read this documentation thoroughly and completely before working with the
product.
Ensure that the documentation is kept in such a way that it is accessible to all
users at all times.
Always pass the product on to third-parties together with the relevant
documentation.
2.1 Intended Use
The transponder antenna HG G-98830YA is designed to calculate the relative posi-
tion of matching RFID tags (transponders) and to output it to a higher-level control
system. Either the transponders or the antenna must be in a fixed position. Possible
applications are:
Position detection of an Automated Guided Vehicle (AGV), i.e. the antenna
moves with the vehicle and the transponders have a fixed position.
Position detection of moving parts (e.g. on mobile robots or electric monorail
conveyors), i.e. the transponders move, the antenna is located at a fixed posi-
tion.
The field of application of the transponder antenna HG G-98830YA is the position
detection of Automated Guided Vehicles (AGV).
The transponder antenna HG G-98830YA may only be used by qualified personnel
at the place of installation (e.g. vehicle) where it has been installed and commis-
sioned for the first time by qualified personnel in accordance with these operating
instructions. The operating conditions specified in this operating manual must be
observed.
The transponder antenna HG G-98830YA does not contain any safety equipment
and may therefore only be used in applications where the manufacturer or the sys-
tem operator has ensured that sufficient measures are implemented for the protec-
tion of persons and the safe detection of obstacles.
2.2 Improper Use
Any use other than that described in the intended use is not in accordance with the
intended use and is therefore not permitted.
Götting accepts no liability for damage resulting from improper use. The risks asso-
ciated with improper use lie solely with the user.
The improper use of the product includes:
The use of the transponder antenna in vehicles that are not equipped with
safety devices for the protection of persons and the safe detection of obstacles.

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
12 Chapter 2 – Safety Instructions
Leaving the track or the appearance of a person or an obstacle in the danger area
must be safely detected at all times and immediate stopping of moving parts (e.g.
vehicles) must be ensured in order to exclude damage to property or personal injury.
2.3 User Qualification
The operations described in this document require basic knowledge of mechanics
and electrics as well as knowledge of the associated technical terms. To ensure safe
use, these activities may therefore only be performed by an appropriate specialist or
an instructed person under the direction of a specialist.
A specialist is someone who, on the basis of his technical training, knowledge and
experience as well as his knowledge of the relevant regulations, is able to assess the
work assigned to him, recognize possible hazards and take suitable safety measures.
A specialist must comply with the relevant technical rules.
The personnel designated for the assembly, commissioning and configuration of the
transponder antenna
has received this operating manual.
is familiar with the operation of the higher-level system (e.g. a vehicle).
is competent to perform his activities and is sufficiently trained in the installa-
tion and configuration of the transponder antenna, if this is part of their activi-
ties.
is – in case the CAN bus interface is to be used – familiar with the commission-
ing of and telegram exchange via CAN bus connections.
knows – in the event that the transponder antenna is to be used for position
detection of automated vehicles – the dangers emanating from an automated
guided vehicle (AGV) and has been sufficiently instructed in the handling of the
vehicle and any necessary safety precautions to assess the safe working condi-
tion of the system.
knows – in case other devices or systems with moving parts are used – the risks
arising from the application and is sufficiently instructed in the safety precau-
tions that may be necessary to assess the safe working condition of the system.
2.4 General Safety Instructions
Ensure that the transponder antenna HG G-98830YA is used only in applica-
tions,
–where sufficient measures for personal protection and safe detection of
obstacles are implemented,
–that reliably detect when the vehicle leaves the track or a person or obstacle
appear in the danger zone at any time and immediately stop all moving
parts (e.g. vehicles).
Ensure that interference in the ground or on the vehicle does not trigger a signal
higher than 100 units in the antenna and that all transponders are read at a suf-
ficiently high distance from this signal. Otherwise, false readings or unrecog-
nized transponders may occur. Possibilities for eliminating interference are
described in section 14.2 „Reducing Interferences“ on page 79.

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
13
Safety Instructions – Chapter 2
Mount the transponder antenna so firmly on the vehicle that its position cannot
change during normal operation. Otherwise, the position data will be incorrectly
evaluated by the higher-level system and the vehicle may drive off track.
Although dirt does not affect the position detection itself, the transponder
antenna should be protected from dirt and moisture (e.g. splash water from the
wheels of the vehicle) and cleaned regularly, otherwise wear and tear on the
antenna will increase.
2.5 Obligations of the Operator
When using the transponder antenna, the operator must ensure that
all persons within the area of influence of an automated system (e.g. automated
guided vehicle (AGV)) are informed about the type of application and the associ-
ated hazards,
the operating conditions specified in this operating manual are observed,
the transponder antenna is in a technically perfect condition.
The operator must not modify or alter the transponder antenna without authoriza-
tion. Otherwise, the operating permit will become invalid.

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
14 Chapter 3 – Scope of Delivery
3Scope of Delivery
The scope of supply includes:
one transponder antenna HG G-98830YA
protective caps for the M12 connectors
an operation manual
3.1 Required Accessories
The transponder antenna alone is not sufficient for position detection of vehicles
with transponders.
To operate a driverless transport system you also need:
a connection cable for connecting the antenna to the vehicle electronics,
several transponders in the ground.
The connection cables can be assembled by the customer (see Preparation of Con-
nection Cables) or ordered from Götting (see below). No Götting cables are available
for the Profinet® interface.
Refer to Table 3 for the order numbers of the required accessories.
Table 3 Required accessories
Order No. Description
HW CAB00001 For connector POWER:
Connection cable PUR, 5 m with M12 angular coupling,
5-pin, A-coded
HW CAB00064 For connector CAN 2:
Connection cable CAN bus, 10 m, with shielding, one end
M12 socket 5-pin straight, A-coded (can also be used for
connector POWER)
HW CON00055 For connector CAN 1:
CAN terminating resistor (terminator),
M12 plug 5-pin, A-coded
HW DEV00095 Disc transponder
Usually mounting on the roadway
HW DEV00098 Disc transponder pre-programmed
Usually mounting on the roadway
HG G-71325XA Rod transponder
Usually mounting in the ground

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
15
Scope of Delivery – Chapter 3
3.2 Optional Accessories
Refer to Table 4 for the order numbers of the optional accessories.
Table 4 Optional accessories
Order No. Description
HG G-81840ZA Transponder programming device
for reading and programming of transponder codes
The transponders can also be programmed via the
antenna, but this is more complicated when installed, as
it usually requires driving the vehicle over the transpon-
der to be programmed.
HG G-73650ZD Navigation controller
for calculating the courses of the vehicle

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
16 Chapter 4 – Device Overview
4Device Overview
4.1 System Components
An Automated Guided Vehicle (AGV) requires at least one antenna, connection ca-
bles to the vehicle electronics and transponders in the ground. Optionally, you can
use a transponder programmer.
If the vehicle manufacturer or the plant operator does not yet have a controller for
calculating the paths of the vehicle, we recommend the navigation controller from
Götting.
Figure 3 System components (excerpt)
4.2 Components in the Ground
4.2.1 Transponders
Transponders with trovan® coding are used as reference marks for the track guid-
ance (see 3.1 „Required Accessories“ on page 14). Further documents can be ob-
tained from our Internet server (see 1.1.2 „Additional Applicable Documents“ on
page 6).
1Transponder antenna HG G-
98830YA
Transponder for mounting in or on the
roadway:
2Disc transponder (usually on the
track)
3Rod transponder (usually in the
ground)
12
3

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
17
Device Overview – Chapter 4
4.2.2 Structure of the Transponder Code
The antenna HG G-98830YA evaluates only the data block 2 with its 20 useful bits.
The data protection is carried out for the transponders via row (for 3 bits each) and
column parities. The transmission time for a complete code telegram is 8 ms.
4.3 Transponder Antenna
Figure 4 Transponder antenna HG G-98830YA
The antenna systems including preamplifier and evaluator are built into one housing.
All cable connections are located on one side of the housing. The electronics in the
housing are sealed.
For dimensions, see Figure 38 on page 85.
The antenna has three M12 connections with 5 pins each. The pin assignments can
be found in section 7.2 „Preparation of Connection Cables“ on page 24.
1Housing ventilation
2Connection POWER
3Connection CAN 1
4Connection CAN 2
1 2 3 4

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
18 Chapter 5 – Operating Principle
5Operating Principle
The transponder antenna detects the position of moving parts by means of passive
transponders. Downstream navigation systems (e.g. vehicle PLC, Götting navigation
controller HG G-73650ZA), which process the data detected by the antennas, can be
used to control automated guided vehicles (AGVs) contact-free.
All important settings, calibrations and updates can be made via serial interface or
CANopen®.
Figure 5 Examples of driverless vehicles with transponders
In position detection with transponders, a transponder antenna detects a transpon-
der at the nominal reading distance and determines its position in the antenna field.
Typically, the transponders are mounted at fixed positions on the ground and the an-
tenna moves above them, e.g., by being attached to a vehicle moving over a course.
Alternatively, the antenna may be mounted at a fixed position and the plant part with
transponder moves relative to it, e.g., an arm of a robot or an electric monorail.
In the following, we refer to the application on automated guided vehicles (AGVs)
with transponders in or on the ground and the antenna installed on the vehicle.
5.1 Position Detection with Transponders
In position detection with transponders, the antenna permanently irradiates the area
under its reading side with its transmission frequency. The transponders are passive
and do not require an energy supply of their own. As soon as the antenna passes
over a transponder, it is inductively supplied with energy via the antenna's energy
field. It automatically wakes up and uses the received energy to send back its code
at half the transmission frequency of the antenna. Thus, only pairings of antennas
and transponders whose transmit and receive frequencies match are possible. Fur-
thermore, there are other systems for transmitting and decoding the code which are
not described in this operating manual.

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
19
Operating Principle – Chapter 5
Figure 6 Sketch: Position detection with transponders
As soon as a transponder begins to transmit within the antenna field, the antenna
reads the individual transponder code and interpolates the position of the transpon-
der's electromagnetic field within the antenna field. It passes this information on to
the higher-level control system via its interfaces. The vehicle thus knows where a
transponder is located underneath the antenna and what code it has. In addition, the
antenna emits the so-called positioning pulse (PosiPulse) when the transponder
crosses the center of the antenna in the X direction (usually the direction of travel).
With this positioning pulse, the time of crossing the reference axis can be transmit-
ted by telegrams without any time delay.
5.2 Track Guidance with Transponders
Automated guided vehicles (AGVs) follow a predefined course. For this purpose, the
vehicles are usually equipped with sensors for position estimation by means of dis-
tance measurement, a so-called odometry. Incremental encoders count the revolu-
tions of the wheels. From this, a downstream navigation system uses the circumfer-
ence of the wheels and the steering angle to calculate the distance traveled and the
orientation of the vehicle. Odometry has the advantage that it is available without
interruption. However, the position calculated with odometry deteriorates – e.g. due
to slippage – the further the vehicle travels.
Figure 7 Sketch: Track guidance with odometry and transponders
This is where the transponder system comes into play. The transponders in the
ground are located at highly accurate positions and are used to determine the actual
position of the vehicle at specific points. The downstream navigation system or the
navigation controller (neither of which is part of the transponder antenna) resets its
estimated position at these points to the precisely determined value.
1
3
2
Transponder
Transponder
Local coordinate system
Antenna
Ground
X
Vehicle
Direction of travel
antenne
SIDE VIEW
Y
X3
X2
X1
Y2Y1Y3
Transponder
center
Y
Transponder
antenna
TOP VIEW
Center axis
PosiPulse
when crossed
X
Transponder antenna
Transponder
Navigation point
Virtual track
Wheels with incremental encoders
Rotating frame Pivot point
Steering angle (from navigation controller)
Offset antenna center <—> navigation point in X and Y direction
Deviation odometry
compared to actual position
Vehicle
Direction of travel (X direction)

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
20 Chapter 5 – Operating Principle
The distances between the transponders can therefore be at most so large that it is
ensured that the vehicle with the odometry does not deviate so far from the track
that the transponder antenna no longer hits the next transponder. The closer togeth-
er the transponders are, the higher the accuracy of the tracking. However, for com-
plex driving maneuvers many transponders are needed in some sections. On the
other hand, it must be ensured that the transponder antenna never receives more
than one transponder signal at a time.
When two transponder antennas are used on a vehicle, omnidirectional vehicles in
particular can localize themselves and also clearly determine their orientation.
5.3 Position Detection with a Navigation Controller
A downstream navigation system such as the Götting navigation controller calcu-
lates the position of the vehicle within the facility from the following data:
the known position of the antenna on the vehicle (usually with offset to the nav-
igation point),
the measured relative position of the transponder under the antenna,
the known position of the transponder in the local coordinate system (defined
by the transponder list).
Once several transponders have been read in succession, the controller can also de-
termine the orientation of the vehicle.
Figure 8 Sketch: Track guidance / free navigation with transponders
For path planning, a driving course consisting of segments is stored in the navigation
controller. This course is subdivided into virtual support points, which form the virtu-
al track. The navigation controller can thus calculate a sequence of segments for
each destination that the vehicle must travel. It then guides the vehicle from support
point to support point. To do this, it interpolates the route over several support points,
specifies the driving speed and calculates the required steering angles in curves.
Whenever it can determine the deviation between the odometrically estimated and
the actual position via the localization of a transponder, it also calculates the correc-
tion path that brings the navigation point back onto the virtual track.
Götting has developed the navigation controller HG G-73650, which can process the
data of certain common incremental encoder types. It is also able to use different
Götting positioning systems to adjust the actual position.
The navigation controller HG G-73650 can use, for example, the transponder anten-
na described here, the laser scanner, guide wire sensors, magnetic sensors and also
GPS signals for position detection. It also manages courses and converts the posi-
tions of the sensors mounted on the vehicle into the coordinate system of the facility.
T
T
T
T
T
T
T
T
T
T
Transponder antenna
Transponder
Navigation point
Virtual track
Calculation of the track
Support points set virtually on the driving course for path planning
Vehicle
Direction of travel (X direction)
with junction
to the support point