Gotting HG G-98830ZA Parts list manual

Technical Description HG G-98830ZA
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2-dim. Positioning and
Identification Antenna
HG G-98830ZA
English, Revision 01 Dev. by: WM
Date: 06.12.2016 Author(s): RAD/AF
Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: [phone] / 80 96 -0,
Fax: [phone] / 80 96 -80, eMail: [email protected], Internet: www.goetting.de

Contents HG G-98830ZA
English, Revision 01, Date: 06.12.2016 2
Contents
1 Introduction.......................................................................5
1.1 System Components............................................................... 6
1.2 Function ................................................................................. 6
1.3 Application Example ............................................................... 7
1.4 Definitions .............................................................................. 7
2 Mounting...........................................................................8
2.1 Transponder ........................................................................... 8
2.2 Antenna HG G-98830ZA ......................................................... 8
3 ............................................................... Commissioning10
4 Components and Operation .............................................14
4.1 Components in the Ground ................................................... 14
4.1.1 Transponders .............................................................................. 14
4.1.2 Code structure............................................................................. 14
4.2 Transmission-Reception Antenna HG G-98830ZA ................. 15
4.2.1 Connection .................................................................................. 15
4.2.1.1 Power..................................................................................... 15
4.2.1.2 CAN Bus................................................................................. 16
4.2.2 Turn-on characteristics ................................................................ 16
4.2.3 Interfaces .................................................................................... 16
4.2.3.1 Serial (RS 232) ....................................................................... 16
4.2.3.1.1 List of the system data which can be output .............. 17
4.2.3.1.2 List of commands ..................................................... 19
4.2.3.2 System Monitor....................................................................... 22
4.2.3.3 CAN ....................................................................................... 23
4.2.3.3.1 Description............................................................... 23
4.2.3.3.2 CAN Message Object 1 (Y Identifier, Transmission Ob-
ject) ..........................................................................23
4.2.3.3.3 CAN Message Object 2 (X Identifier, Transmission Ob-
ject) ..........................................................................23
4.2.3.3.4 CAN Message Object 3 (D Identifier, Transmission Ob-
ject) ..........................................................................24
4.2.3.3.5 CAN Message Object 4 (Transmission Object).......... 24
4.2.3.3.6 CAN Message Object 5 (Reception Object)............... 24
4.2.3.4 Data Interface CANopen®..................................................................................25
4.2.3.4.1 Description of the Process Data Objects (PDO)......... 25
4.2.3.4.2 Heartbeat................................................................. 26
4.2.3.4.3 Node Guarding......................................................... 27
4.2.3.4.4 Description of the Service Data Objects (SDOs)........ 27
4.2.3.4.5 Object Directory ....................................................... 27
4.2.3.5 Positioning Pulse .................................................................... 27

Contents HG G-98830ZA
English, Revision 01, Date: 06.12.2016 3
4.2.4 Software Download...................................................................... 28
4.2.5 Connection Cables ...................................................................... 28
5 Software .........................................................................29
5.1 Terminal Program ................................................................. 29
5.2 System Monitor..................................................................... 30
5.2.1 How to start the monitor program ................................................. 31
5.2.1.1 Procedure Monitor only ........................................................... 31
5.2.1.2 Procedures 3964R/transparent................................................ 31
5.2.2 How to work with the monitor program ......................................... 32
5.2.2.1 Main menu.............................................................................. 33
5.2.2.2 (S)erial Output ........................................................................ 35
5.2.2.3 (T)ime & Code ........................................................................ 37
5.2.2.4 (F)requency & Antenna Tuning................................................ 39
5.2.2.5 C(A)N-Parameters .................................................................. 40
5.2.2.6 CANopen® .................................................................................................................41
5.2.2.7 (D)isplay Systemstatus ........................................................... 43
5.2.2.8 Cs(v) ...................................................................................... 43
5.2.2.9 (Y) Display Histogram ............................................................. 43
5.2.2.10 (W)rite Transponder................................................................ 44
5.2.2.11 (L)oad User parameters to EEProm......................................... 44
5.2.2.12 (U)pdate Firmware .................................................................. 44
5.2.2.13 Import (1) / export (2) User Parameter..................................... 44
5.2.2.14 P(r)int Parameters .................................................................. 45
5.3 Software Update (Antenna Software) .................................... 45
5.3.1 Installation of the Program for Software Update ........................... 45
5.3.2 Software Update.......................................................................... 46
6 Maintenance ...................................................................47
7 Trouble Shooting.............................................................48
8 Technical Data ................................................................49
9 Annex .............................................................................50
A Procedure 3964R............................................................................. 50
A.1 Data direction Antenna -> PLC ................................................................50
A.2 Data direction PLC -> Antenna ................................................................51
B Procedure „transparent“................................................................... 51
B.1 Data direction antenna -> PLC.................................................................51
B.2 Data direction PLC -> antenna.................................................................52
C Overview of the CANopen®directory............................................... 52
C.1 Communication specific Entries within the Range of 0x1000 to 0x1FFF .52
C.2 Manufacturer specific Entries starting at 0x2000 .....................................54
C.3 Standardized Device Profile higher than 0x6000 .....................................55
D Details of the CANopen®directory................................................... 55

Contents HG G-98830ZA
English, Revision 01, Date: 06.12.2016 4
D.1 Device Type .............................................................................................55
D.2 Error Register...........................................................................................55
D.3 COB-ID SYNC message ..........................................................................56
D.4 Device Name............................................................................................56
D.5 Hardware Version ....................................................................................56
D.6 Software Version......................................................................................56
D.7 Save Parameters .....................................................................................56
D.8 Restore Default Parameter ......................................................................57
D.9 Producer Heartbeat Time.........................................................................57
D.10 Identity Object ..........................................................................................58
D.11 Transmit PDO_1 Parameter.....................................................................58
D.12 Transmit PDO_2 Parameter.....................................................................59
D.13 Transmit PDO_3 Parameter.....................................................................59
D.14 Mapping TPDO_1 ....................................................................................60
D.15 Mapping TPDO_2 ....................................................................................60
D.16 Mapping TPDO_3 ....................................................................................61
D.17 Device Parameter ....................................................................................62
D.18 Codes for System Configuration ..............................................................63
D.19 Manufacture Parameter - Node Parameter..............................................64
D.20 8 Bit Digital Input (transmission in TPDO_2)............................................64
D.21 16 Bit Status (transmission in TPDO_1)...................................................65
D.22 32 Bit Transponder Code .........................................................................65
D.23 8 Bit Analog Inputs ...................................................................................65
D.24 16 Bit Analog Inputs .................................................................................66
E EDS Configuration File..................................................................... 66
F Accuracy of the deviation calculation ............................................... 66
G Mechanical Drawing with Antenna Dimensions ............................... 68
10 List of Figures .................................................................69
11 List of Tables ..................................................................70
12 Index ..............................................................................72
13 Handbook Conventions....................................................73
14 Copyright and Terms of Liability ......................................74
14.1 Copyright.............................................................................. 74
14.2 Exclusion of Liability ............................................................. 74
14.3 Trade Marks and Company Names........................................ 74

Introduction HG G-98830ZA
English, Revision 01, Date: 06.12.2016 5
1 Introduction
The described antenna is designed to be used for positioning and/or trackguiding Au-
tomated Guided Vehicles (AGV). All important parameter settings, calibration and up-
dates are carried out via an integrated serial interface or CANopen®.
Figure 1 Examples of automated vehicles using transponder systems
The 2-dimensional Antenna HG G-98830ZA utilizes a concept, which has a large read-
ing area with a constant linear transponder positioning function. As soon as a tran-
sponder is underneath the active antenna area its code as well as its deviation from
the antenna center in X and Y direction is output. Additionally in X direction a high-pre-
cision positioning pulse (posipulse) is output when the transponder crosses the Y axis.
Götting transponder antennas have a consistent output format, and enable the user to
configure additional system information. This additional information, for example, may
be used by an external visualization system (e.g. vehicle control unit with display) and
enables statements regarding the condition and availability of antennas and transpon-
ders.
This system description refers to Transponder Positioning Antenna HG G-98830ZA
with the firmware 98830A21.004 or higher (also refer to Figure 12 on page 33).

Introduction HG G-98830ZA
English, Revision 01, Date: 06.12.2016 6
1.1 System Components
The 1.5-dimensional Positioning and Identification System using the antenna HG G-
98830ZA consists of up to four different components:
Figure 2 System components
1. Transmitter-receiver antenna HG G-98830ZA incl. interpreter
(also refer to section 4.2 on page 15)
2. Transponder within the track; refer to section 4.1.1 on page 14
1. HW DEV00095/HW DEV00098
2. HG G-71325XA or other matching types
3. Connection cables
(not in this picture; refer to section 4.2.5 on page 28)
4. Optional Read / Write Unit HG G-81830YA
(not in this picture; refer to separate data sheet)
1.2 Function
As the antenna passes over the Transponder, it energizes the latter with an energy field
of 128 kHz. The transponder transmits its code back at half this frequency.
The relative Transponder position is measured via coils (this relative position does not
provide the knowledge of the heading of the vehicle, as the field of the Transponder is
rotation-symmetric to the longitudinal axis of the Transponder).
The internal interpreter unit decodes the Transponder code and interpolates the Tran-
sponder position diagonally and lengthwise to the direction of travel from the mea-
sured values. Each crossing of the Y axis in direction of travel (X axis) generates a

.1
.2

Introduction HG G-98830ZA
English, Revision 01, Date: 06.12.2016 7
positioning pulse of adjustable duration. In addition, various parameters of the anten-
na, such as current consumption and power supply voltage are measured and may be
added to the serial output protocol or sent via CAN bus.
1.3 Application Example
Figure 3 Track guiding a vehicle with one antenna
The figure shows a vehicle with an antenna frame for track guidance.
With the aid of the transponder (T 105) the deviation from the predeter-
mined track is determined (5 mm). With this information, an external
computer is able to determine the new direction required to return to the
predetermined track as soon as possible (the external computer is not
part of the system, we recommend the Götting Navigation Controller HG
G-73650). Rotary encoders enable changing the direction of travel
whenever necessary. Thus it is possible to switch tracks at predeter-
mined points (T107). Again, the vehicle corrects its position inde-
pendently upon reaching the next transponder.
1.4 Definitions
The definitions and signatures used for this system and in this user´s manual are de-
fined according to the following drawing:
Figure 4 Polarity of the deviation
For definition of bit Segment see Table 5 on page 18. This bit is set in the half plane -X.
-Y <— Deviation —> +Y
<— Direction of Travel —>
Active area for positioning
Bottom View
+X -X

Mounting HG G-98830ZA
English, Revision 01, Date: 06.12.2016 8
2Mounting
2.1 Transponder
Observe the required minimum distances from metal, as the influence on positioning
accuracy and range is dependent upon size and distance of metal parts. For the same
reason, the transponder should be mounted as vertically aligned as possible. Please
observe the data sheets and mounting instructions for the suitable transponders
HG G-71325XA and HW DEV000950/HW DEV0098.
2.2 Antenna HG G-98830ZA
Figure 5 Antenna Mounting Holes
To prevent any adverse effects on the system:
-The Antenna itself may be mounted directly onto metal with its underside.
-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 perfect operation of the transponder system, it is essential that there are no
interfering signals in the frequency range of 64 ±4 kHz (e. g. chopped engines,
etc.)!
317
317
Top View
Position of Mounting Holes
M6 (4x)

Mounting HG G-98830ZA
English, Revision 01, Date: 06.12.2016 9
-Current-carrying wires have to be far enough away from the antenna (minimum
150 mm) so that their power and frequencies 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 reading distances those values may be
higher/lower. The sum voltage without a transponder in the reading area should
always be smaller than half the sum voltage that is generated by a transponder
within the reading area). The only exception to this rule is the connection cable of
the antenna itself.
-Transponder antennas with the same energy field frequency may not be posi-
tioned 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 con-
sumption of the antenna is not constant or via unsteady reception voltages. Tests
with the antenna HG G-98830ZA 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 voltage decreases by up to 6 %. Placing two antennas only
100 mm apart the sum voltage 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 68.

Commissioning HG G-98830ZA
English, Revision 01, Date: 06.12.2016 10
3 Commissioning
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 us-
ing the serial interfaces of both devices. Then start the monitor program as described
in section 5.2 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 different user!
1. Move a transponder into reception range.
The voltage Sshown in the monitor program‘s status bar should increase con-
siderably. 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 read-
ings, if applicable, 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 possible it might be possible to avoid the
critical frequency area by changing the side band (see section
5.2.2.4 on page 39).
3. In order to adjust the antenna to environmental influences it must be re-cali-
brated (also refer to section 2.2 on page 8), alternatively activate the function
Auto-Tune (refer to section 5.2.2.4 on page 39).
As long as no errors have occurred, save any altered parameters and exit the monitor
program. If certain parameters are altered, a system reset is necessary (turn off and
reactivate the antenna). Where this is applicable is described in the corresponding
sections of the monitor program (section 5.2). 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.
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 trig-
ger the generation of a positioning pulse (see section 5.2.2.3 on page 37).
5. In order to set the positioning threshold correctly (refer to section 5.2.2.3 on
page 37), it is useful to record a complete test run over the set track. The serial
interface of the antenna HG G-98830ZA may be used accordingly (refer to sec-

Commissioning HG G-98830ZA
English, Revision 01, Date: 06.12.2016 11
tion 4.2.4 on page 28). For this function Antenna HG G-98830ZA offers the use
of the serial interface (refer to section 4.2.3.1 on page 16) or the CAN bus mes-
sage object 3 (see section Table 9 on page 24). Afterwards adjust the position-
ing thresholds so that a safe positioning is possible but that is not triggered by
side lobes. Figure 6 shows a corresponding driving situation, for readings like
this a reasonable threshold for the decoding and the positioning pulse would be
between 400 and 600 units.
Figure 6 Side lobes during a transponder reading
NOTE! If during the first driving tests a proper track guidance is not pos-
sible try changing the positioning thresholds accordingly.
The separately adjustable thresholds are explained in chapter 5 on page 29. In order
to explain 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 „Thresh-
old for Decoding“. If that is the case the bit TRANS_IN_FIELD is set and the NOISE
counter is incremented. 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.
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.
Undisturbed Transponder Decoding
Main field
Side lobes
Transponder Reading
Transponder Number
Reception voltage US/units

Commissioning HG G-98830ZA
English, Revision 01, Date: 06.12.2016 12
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 transpon-
der 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 7 Undisturbed decoding across two transponders
Figure 8 The same driving situations as shown in Figure 7 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

Commissioning HG G-98830ZA
English, Revision 01, Date: 06.12.2016 13
Figure 9 The same driving situation as shown in Figure 7, this time with high noise lev-
el
When comparing the diagrams one can see that the wrong calibration shown in Figure
8 on page 12 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 9 on page 13 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 val-
ues 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 1 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

Components and Operation HG G-98830ZA
English, Revision 01, Date: 06.12.2016 14
4 Components and Operation
4.1 Components in the Ground
4.1.1 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
influence. Individual metal poles have little effect. Those may partially be within
the metal-free area.
The following environmental conditions have no effect on the system:
-snow, ice, water.
-oil, tar, earth, dirt, etc.
4.1.2 Code structure
The antenna HG G-98830ZA 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 transmis-
sion time for a complete code telegram is 8 ms.

Components and Operation HG G-98830ZA
English, Revision 01, Date: 06.12.2016 15
4.2 Transmission-Reception Antenna HG G-98830ZA
Figure 10 Photo Transmission-Reception Antenna HG G-98830ZA
The antenna systems and the pre-amplifiers are housed in a casing with the dimen-
sions shown in annex G on page 68. 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 mechanical drawing please see annex G on page 68.
4.2.1 Connection
The antenna is equipped with three 5-pin M12 connection sockets. The pin allocations
are as follows:
4.2.1.1 Power
Voltage Supply, Serial Interface and Positioning Pulse. 5-pin M12 connector male. The
positioning pulse output is fed from +Ub (24 V) and limited to 20 mA. See chapter 5
on page 29 on how to use the serial signals.
Power Pin Signal Annotation
1+Ub (24 V) Power supply
2Posi Positioning pulse output
20 mA current limited
3TxD RS232 data output
4 RxD RS232 data input
5 GND Ground (supply)
Table 2 Power Interface
M12 5-pin male

Components and Operation HG G-98830ZA
English, Revision 01, Date: 06.12.2016 16
4.2.1.2 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 par-
allel, 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.
4.2.2 Turn-on characteristics
Upon applying the operating voltage, the antenna requires 10 seconds startup time.
During this period, it is possible to start a firmware update (also refer to section 4.2.4
on page 28).
Following this period, the actual program starts. If configured accordingly (also refer
to Figure 16 on page 39), the transmission coils will be automatically tuned. This pro-
cedure takes another 16 seconds.
4.2.3 Interfaces
4.2.3.1 Serial (RS 232)
The serial output may be configured in various ways. The transmission rate is adjust-
able at 19200 or 38400 Bd, the output protocol may be chosen as either „Montir only“,
„transparent“ or „3964R“, the content of the output telegrams is configurable for the
last two. From a parameter list the required parameters may be selected.
CAN1 CAN2 Pin Signal
1not used
2+Ub (24 V)
3Ground supply
4CAN_H
5CAN_L
Table 3 Pin allocations CAN1 and CAN2
M12 5-pin female
M12 5-pin male

Components and Operation HG G-98830ZA
English, Revision 01, Date: 06.12.2016 17
4.2.3.1.1 List of the system data which can be output
One Telegram consists of max. 24 user bytes. The minimum update rate at 19200 Bd
is then calculated as follows:
Figure 11 Formula: minimum update rate
As the transmission is binary, it is possible to add further (DLE) characters to the pro-
cedure when using the 3964R-procedure.
All multiple-byte variables are output either with HighByte first or LowByte first (adjust-
able)!
The 8 bit check sum is only output when using the transparent protocol and includes
the start pulse. The start pulse, as well as the check sum (protocol transparent), can-
not be removed from the data block.
Table of the data words of a telegram with 23 byte length.
Byte # Length Value Type Description
11 Byte 0x0000.0001 ASCII-061: „=“ Start sync (Default: „=“)
2,3 2 Byte 0x0000.0002 signed int Y-Position: Y [mm]
within the range of -125 .. 0 .. +125
In case of an invalid value (no Transponder
detected) = 32767
4,5 2 Byte 0x0000.0004 signed int X-Position: X [mm]
within the range of -125 .. 0 .. +125
In case of an invalid value (no Transponder
detected) = 32767
6,7,8,9 4 Byte 0x0000.0008 unsigned long 20 bit of the Transponder code (R/W Trans-
ponder)
10,11 2 Byte 0x0000.0010 unsigned int voltage generated by the Transponder in the
reference coil in [units] (Usum)
12,13 2 Byte 0x0000.0020 signed int Voltage generated by the transponder in the
positioning coil in [units] (Udif)
14 1 Byte 0x0000.0040 unsigned char operational voltage of the Antenna [100 mV]
15 1 Byte 0x0000.0080 unsigned char power consumption [10 mA]
16 1 Byte 0x0000.0100 signed char temperature within the antenna [oC]
17 1 Byte 0x0000.0200 unsigned char number of code readings during the latest
Transponder crossing
18,19 2 Byte 0x0000.0400 unsigned int receiver frequency [10 Hz]
20,21 2 Byte 0x0000.0800 unsigned int transmitter frequency [10 Hz]
22,23 2 Byte 0x0000.1000 unsigned int system status in binary encoding, see Table 6
on page 19
(24) 1 Byte unsigned char check sum, only in transparent protocol!
Table 4 Data words in a telegram with 23 byte length
24 Byte
Telegram
-------------------------11 Bit
Byte
------------19200Bit
s
-------
 13.75 ms
Telegram
-------------------------
=

Components and Operation HG G-98830ZA
English, Revision 01, Date: 06.12.2016 18
In the following table you will find a list of the binary codes used to describe the system
status (for byte # 20 and 21 in Table 4):
*) These bits are deleted as soon as the Transponder leaves the
Antenna reception range.
Example:
System status 0x0014 means EEPROM_ERROR and RX_NOISE.
This status message 0x0002 may also occur during an ordinary transponder cross-
ing, if the code transmission is aborted due to decreasing output level.
Value Name Description
0x0001 DEC_HW_ERROR code decoder hardware error
0x0002 CODE_PAR_ERR reception of transponder code with parity error or Hi-Nibble
received
0x0004 RX_NOISE Set whenever TRANS_IN_FIELD was set but no codes
were received
0x0008
0x0010 EEPROM_ERROR parameter E²Prom not addressable
0x0020 PARAM_CRC_ER parameter block not safe
0x0040 POT_ERROR IIC-Bus Potis not addressable
0x0080 F_ERROR Transmitting or receiving oscillator not tuned to the set fre-
quency
0x0100 ESTIMATE_Y Diagonally to direction of travel:
If the exact Transponder Position cannot be determined
due to wrong reading distances or e. g. steel reinforce-
ments in the ground, an estimated value with the accuracy
of ±10 mm is determined and this bit is set
0x0200 TRANS_IN_FIELD transponder is being detected *)
0x0400 CODE_OK Code decoded without errors *)
0x0800 SEGMENT The transponder is located within the area marked -X in
Figure 4 on page 7 *)
0x1000 POSIPULS Transponder has crossed the Antenna center
0x2000 ESTIMATE_X In direction of travel:
If the exact Transponder Position cannot be determined
due to wrong reading distances or e. g. steel reinforce-
ments in the ground, an estimated value with the accuracy
of ±10 mm is determined and this bit is set
0x4000
0x8000
Table 5 Possible system status messages

Components and Operation HG G-98830ZA
English, Revision 01, Date: 06.12.2016 19
4.2.3.1.2 List of commands
A command telegram always consists of four bytes, including the actual command
and the parameters. When using the procedure „transparent“ it is, in addition, necs-
sary to transfer one start character and a check sum (XOR operation of all bytes in-
cluding the start character).
There are 21 predefined commands:
NOTE! The table below is valid for 'High Byte First'-transmission. For
'Low Byte First'-transmission the order of command and parame-
ter bytes has to be changed.
The duration of 'Tune Antenna Once'-command is maximal 10
seconds for 16 tuning steps.
The monitor mode should not be used during normal operation
(e. g. from a PLC), as the following signal output is not according
to a ’transparent’ or ’3964R’ protocol but only suitable for output
on a VT52-terminal and used for the manual alteration of parame-
ters.
No. Procedure Start Command
Bytes
Parameter
Bytes
Check
Sum *) Description
1
3964R
HEX 4D164F16 4E164916 Switch to monitor mode
(description in section 5.2
„System Monitor“ on page
30)
ASCII MO NI
trans-
parent
HEX 3D16 4D164F16 4E164916 3816
ASCII =MO NI 8
2
3964R
HEX 54165516 4E164516 Tune antenna once
ASCII TU NE
trans-
parent
HEX 3D16 54165516 4E164516 3716
ASCII =TU NE 7
3
3964R
HEX 53165416 30163116 Set tuning value to 1
ASCII ST 01
trans-
parent
HEX 3D16 53165416 30163116 3816
ASCII =ST 01 8
4
3964R
HEX 53165416 30163216 Set tuning value to 2
ASCII ST 02
trans-
parent
HEX 3D16 53165416 30163216 3B16
ASCII =ST 02 ;
Table 6 List of the system commands (part 1 of 4)

Components and Operation HG G-98830ZA
English, Revision 01, Date: 06.12.2016 20
5
3964R
HEX 53165416 30163316 Set tuning value to 3
ASCII ST 03
trans-
parent
HEX 3D16 53165416 30163316 3916
ASCII =ST 03 9
6
3964R
HEX 53165416 30163416 Set tuning value to 4
ASCII ST 04
trans-
parent
HEX 3D16 53165416 30163416 3E16
ASCII =ST 04 >
7
3964R
HEX 53165416 30163516 Set tuning value to 5
ASCII ST 05
trans-
parent
HEX 3D16 53165416 30163516 3F16
ASCII =ST 05 ?
8
3964R
HEX 53165416 30163616 Set tuning value to 6
ASCII ST 06
trans-
parent
HEX 3D16 53165416 30163616 3C16
ASCII =ST 06 <
9
3964R
HEX 53165416 30163716 Set tuning value to 7
ASCII ST 07
trans-
parent
HEX 3D16 53165416 30163716 3D16
ASCII =ST 07 =
10
3964R
HEX 53165416 30163816 Set tuning value to 8
ASCII ST 08
trans-
parent
HEX 3D16 53165416 30163816 3216
ASCII =ST 08 2
11
3964R
HEX 53165416 30163916 Set tuning value to 9
ASCII ST 09
trans-
parent
HEX 3D16 53165416 30163916 3316
ASCII =ST 09 3
No. Procedure Start Command
Bytes
Parameter
Bytes
Check
Sum *) Description
Table 6 List of the system commands (part 2 of 4)