Gotting HG G-73650ZD Manual

Navigation Controller
HG G-73650ZD
Basics, Setup and Software
Innovation in Guidance
English, Revision 05 Date: 09.03.2017 Dev. by: ML / LM Author(s): RAD / ML
Documentation HG G-73650ZD
www.goetting-agv.com
Autonomous Vehicles

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
2Overview HG G-73650ZD
® 2017 Götting KG, errors and modifications reserved.
The Götting KG in D-31275 Lehrte has 
a certified quality management system
according to ISO 9001.

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
1Table of Contents HG G-73650ZD
Contents
1 Introduction............................................................................................ 6
1.1 Symbols ................................................................................................................................ 6
1.2 Tasks of the Navigation Controller............................................................................... 7
1.3 Intended Use ....................................................................................................................... 7
1.4 Requirements / Options................................................................................................... 8
2 Basic Principles of Track Guidance ..................................................... 9
2.1 Suitable and Unsuitable Vehicle Types....................................................................... 9
2.2 System Composition....................................................................................................... 10
2.3 Position Determination with Sensor Fusion ............................................................ 10
2.3.1 The Odometry ................................................................................................................................ 11
2.3.2 Sensors for Navigation................................................................................................................ 11
2.3.2.1 Transponder Antenna .............................................................................................................. 11
2.3.2.1.1 Single Antenna Evaluation – Calculation of the Position with one Antenna .. 12
2.3.2.1.2 Double Antenna Evaluation ............................................................................................ 14
2.3.2.1.3 The Triple Antenna Evaluation....................................................................................... 15
2.3.2.1.4 Initialising the Transponder Sensor Fusion (Placing Vehicle on the Track) .... 15
2.3.2.1.5 The Transponder List........................................................................................................ 16
2.3.2.2 GPS................................................................................................................................................ 16
2.4 Coordinate Systems ........................................................................................................ 17
2.4.1 The Vehicle Coordinate System ............................................................................................... 17
2.4.2 The Local Coordinate System................................................................................................... 17
2.4.3 Characteristics of the Coordinate Systems .......................................................................... 18
2.5 Reconstruction of the Route (Segments)................................................................. 19
2.5.1 Virtual Tracks ................................................................................................................................. 19
2.5.2 The Segment File.......................................................................................................................... 20
2.5.2.1 Structure of the Segment File............................................................................................... 20
2.5.2.2 The Segment Search................................................................................................................ 21
2.5.2.3 Selection of Segments ............................................................................................................ 22
2.5.2.4 Transmission of Segmente .................................................................................................... 23
2.5.3 Attributes......................................................................................................................................... 24
2.5.3.1 Offset Driving ............................................................................................................................. 24
2.5.3.2 Inverted Steering....................................................................................................................... 25
2.5.3.3 Stop Distance ............................................................................................................................. 26
2.5.3.4 Spot Turn ..................................................................................................................................... 27
2.5.4 Creating / Editing of a Segment File ...................................................................................... 27
2.6 Track Guidance................................................................................................................. 29
2.6.1 Speed Calculation......................................................................................................................... 30
2.6.2 Steering Angle Calculation ........................................................................................................ 30
2.6.3 Guidance of an omnidirectional Vehicle................................................................................ 30
2.6.4 Guidance of a non-omnidirectional Vehicle ......................................................................... 32
2.6.5 Driving Modes................................................................................................................................ 32
2.6.5.1 Idle Mode ..................................................................................................................................... 33
2.6.5.2 Parameter Test Mode .............................................................................................................. 33

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
2Table of Contents HG G-73650ZD
2.6.5.3 Automatic Mode ........................................................................................................................ 33
2.6.5.4 Remote Control Mode.............................................................................................................. 33
2.6.5.5 Vector Steering Mode .............................................................................................................. 34
2.7 Communication with the Vehicle Control (e.g. PLC) ............................................ 34
3 Hardware.............................................................................................. 36
3.1 Mounting............................................................................................................................ 37
3.2 Front Panel ........................................................................................................................ 37
3.3 Control Elements on Front Panel ............................................................................... 37
3.4 Display Elements on Front Panel ............................................................................... 38
3.5 Connectors ........................................................................................................................ 38
3.5.1 ETH .................................................................................................................................................... 38
3.5.2 USB.................................................................................................................................................... 39
3.5.3 SIO 1 (GPS Receiver) ................................................................................................................... 39
3.5.4 SIO 2 ................................................................................................................................................. 39
3.5.5 CAN 1................................................................................................................................................ 40
3.5.6 CAN 2................................................................................................................................................ 40
3.5.7 SIO 3 ................................................................................................................................................. 40
3.5.8 POWER............................................................................................................................................. 41
3.5.9 IO........................................................................................................................................................ 41
3.5.10 ENCODER 1 / ENCODER 2......................................................................................................... 41
3.5.11 PROG ................................................................................................................................................ 42
3.5.12 ANT1 / ANT2 .................................................................................................................................. 42
3.6 Extension module Feldbus ........................................................................................... 42
4 Software............................................................................................... 43
4.1 Main menu......................................................................................................................... 44
4.2 Status menu...................................................................................................................... 45
4.2.1 Navigation menu ........................................................................................................................... 45
4.2.1.1 Status ............................................................................................................................................ 45
4.2.1.2 Deviation ...................................................................................................................................... 46
4.2.1.3 Seg. Table .................................................................................................................................... 46
4.2.1.4 Segment....................................................................................................................................... 46
4.2.1.5 PLC ................................................................................................................................................ 47
4.2.2 Transponder menu ....................................................................................................................... 48
4.2.2.1 Antenna ........................................................................................................................................ 48
4.2.2.2 Result ............................................................................................................................................ 49
4.2.2.3 Odometry ..................................................................................................................................... 49
4.2.3 GPS.................................................................................................................................................... 50
4.2.3.1 GPS ................................................................................................................................................ 50
4.2.3.2 ONS ............................................................................................................................................... 51
4.2.3.3 Controller Deviation.................................................................................................................. 51
4.2.3.4 Controller Correction................................................................................................................ 51
4.2.3.5 Status ............................................................................................................................................ 52
4.2.4 GPS Receiver.................................................................................................................................. 53
4.2.4.1 UTC ................................................................................................................................................ 53
4.2.4.2 Status ............................................................................................................................................ 53
4.2.4.3 Position......................................................................................................................................... 53
4.2.4.4 Diff. Data Age ............................................................................................................................. 53
4.2.4.5 Satellites ...................................................................................................................................... 53
4.2.4.6 Accuracy ...................................................................................................................................... 53
4.2.4.7 Base Vector ................................................................................................................................. 54
4.2.4.8 Heading ........................................................................................................................................ 54
4.2.5 Error .................................................................................................................................................. 55

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
3Table of Contents HG G-73650ZD
4.2.6 TCP.................................................................................................................................................... 56
4.3 Configuration menu ........................................................................................................ 56
4.3.1 Configuration –> Main ................................................................................................................ 57
4.3.2 Configuration –> Guidance........................................................................................................ 59
4.3.3 Wheels ............................................................................................................................................. 59
4.3.3.1 What type of vehicle is involved? ........................................................................................60
4.3.3.2 The non-omnidirectional vehicle..........................................................................................60
4.3.3.3 The omnidirectional vehicle................................................................................................... 61
4.3.3.4 Which wheels should be used for the odometry? .......................................................... 61
4.3.3.5 How are the positions specified on the vehicle? ............................................................ 61
4.3.3.6 Configuration –> Wheels ........................................................................................................ 62
4.3.4 Configuration –> Antennas........................................................................................................ 64
4.3.5 Configuration –> Accuracy ........................................................................................................ 65
4.3.6 Configuration –> Steer Controller ........................................................................................... 66
4.3.7 Configuration –> Speed Controller ......................................................................................... 68
4.3.8 Configuration –> Sensor Fusion Transponder..................................................................... 69
4.3.9 Configuration –> Sensor Fusion GPS ..................................................................................... 70
4.3.10 Configuration –> Gyro................................................................................................................. 73
4.3.11 Configuration –> Servo............................................................................................................... 74
4.4 Network menu .................................................................................................................. 76
4.5 Config File menu.............................................................................................................. 77
4.5.1 Upload Configuration –> Load parameters from a file on the PC into the navigation
controller ......................................................................................................................................... 77
4.5.2 Download –> Transfer parameters from navigation controller into a file on the PC 78
4.6 Segment File menu ......................................................................................................... 78
4.6.1 Upload Segment File –> Transfer a segment file from the PC into the navigation con-
troller ................................................................................................................................................ 78
4.6.2 Download Segment File –> Transfer segment file from the navigation controller into
a file on the PC .............................................................................................................................. 79
4.7 Segment Table menu ..................................................................................................... 80
4.8 Transponder File menu .................................................................................................. 81
4.8.1 Upload Transponder File –> Transfer a transponder file from the PC into the naviga-
tion controller ................................................................................................................................ 81
4.8.2 Download Segment File –> Transfer transponder file from the navigation controller
into a file on the PC ..................................................................................................................... 82
4.9 Transponder Table menu .............................................................................................. 82
4.10 'Parameter Test' menu................................................................................................... 83
4.10.1 Requirements for switching into the different modes ...................................................... 83
4.10.2 Possibilities in the 'Idle' mode .................................................................................................. 84
4.10.3 Possibilities in the 'Test' mode................................................................................................. 84
4.10.4 Possibilities in the 'Auto' mode................................................................................................ 84
4.10.5 Specification of segments ......................................................................................................... 84
4.10.6 Setting a starting position.......................................................................................................... 85
5 Commissioning .................................................................................... 86
5.1 Interfaces usually connected ....................................................................................... 86
5.2 Test / real operation........................................................................................................86
5.3 Commissioning the communication .......................................................................... 87
5.4 Setting the parameters .................................................................................................. 87
5.4.1 Configuration -> Main ................................................................................................................. 88
5.4.2 Configuration –> Guidance........................................................................................................ 89
5.4.3 Configuration –> Wheels............................................................................................................ 89
5.4.4 Configuration –> Antenna.......................................................................................................... 91
5.4.5 Configuration –> Accuracy ........................................................................................................ 92

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
4Table of Contents HG G-73650ZD
5.4.6 Configuration –> Steer Controller ........................................................................................... 92
5.4.7 Configuration –> Speed Controller..........................................................................................92
5.4.8 Configuration –> Sensor Fusion............................................................................................... 93
5.4.9 Configuration –> Gyro ................................................................................................................. 93
5.4.10 Configuration –> GPS .................................................................................................................. 94
5.5 Creating the segments .................................................................................................. 94
5.6 Simulation without vehicle and vehicle controller ............................................... 95
5.7 Simulation without vehicle and with vehicle controller...................................... 96
5.8 Commissioning a vehicle .............................................................................................. 96
5.8.1 Testing and optimizing the parameters ................................................................................. 96
5.8.2 Other optimisations................................................................................................................... 100
5.8.3 Optimising the steering controller........................................................................................ 101
5.8.4 Optimising the speed ramps .................................................................................................. 102
6 CAN Bus Protocol.............................................................................. 103
6.1 How to send Segments to the Control Unit via the CAN Bus ......................... 103
6.2 Transmission Telegrams from Control Unit to PLC, the Wheels and the Gyro ..
105
6.2.1 Path Data Box ............................................................................................................................. 105
6.2.2 Segment Search Box ................................................................................................................ 106
6.2.3 Status Box .................................................................................................................................... 106
6.2.4 Error Box....................................................................................................................................... 107
6.2.5 Wheel Boxes................................................................................................................................ 111
6.2.6 Gyro Box ....................................................................................................................................... 113
6.3 Reception Telegrams from PLC, Wheels, Antennas, Gyro and Sensor Fusion to
the Control Unit ............................................................................................................. 114
6.3.1 Path data (target) Box .............................................................................................................. 114
6.3.2 SPS Control Box ......................................................................................................................... 115
6.3.3 Remote Control Box.................................................................................................................. 116
6.3.4 Wheel Box .................................................................................................................................... 117
6.3.5 Antenna Boxes............................................................................................................................ 117
6.3.6 Gyro Box ....................................................................................................................................... 118
6.3.7 Sensorfusion Boxes................................................................................................................... 119
7 Feldbus Protocol ............................................................................... 122
7.1 Tx Transmission Telegram Control Unit –> PLC.................................................. 122
7.2 Rx Reception Telegram PLC –> Control Unit ....................................................... 126
8 USB Data Logging: Scope of the Data............................................ 130
8.1 Opening logged Data in Excel® ................................................................................ 131
8.2 List of logged Parameters .......................................................................................... 131
9 Trouble Shooting............................................................................... 141
10 Technical Data ................................................................................... 143
11 Appendix ............................................................................................ 144
A Attributes ............................................................................................................................................... 144
B Radius Calculation with 16 Bit Resolution ............................................................................. 145
C Configuration of the Ethernet Interface Parameters via SIO 2 ..................................... 146
D Firmware-Update via the USB Interface ................................................................................. 147
12 List of Figures.................................................................................... 150

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
5Table of Contents HG G-73650ZD
13 List of Tables...................................................................................... 153
14 Copyright and Terms of Liability ..................................................... 155
14.1 Copyright ......................................................................................................................... 155
14.2 Exclusion of Liability .................................................................................................... 155
14.3 Trade Marks and Company Names ......................................................................... 155

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
6Chapter 1: Introduction HG G-73650ZD
1Introduction
The subject of this manual is the Navigation Controller HG G-73650ZD that enables AGV
(Automated Guided Vehicles) to follow virtual tracks. The following terms are used synony-
mously throughout this document:
– Control Unit (as printed onto the hardware)
– navigation controller
– Vehicle Guidance Controller (VGC)
1.1 Symbols
The following symbols and marks 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.

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
7Chapter 1: Introduction HG G-73650ZD
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).
1.2 Tasks of the Navigation Controller
The navigation controller has the following tasks:
1. Determination of the current position via transponders, GPS or external input, see
section 2.3 on page 10
2. Reconstruction of the route to be driven (by means of segment files), see section 2.5
on page 19
3. Track Guidance (controlling the vehicle on a track), see section 2.6 on page 29
As the navigation controller is a very complex technical product the following pages will first
cover the various aspects of the vehicle's track guidance that have to be considered before
we explain the subject areas of commissioning and configuration. The following points will
be explained later in this manual:
Basic information on positioning, track creation and track guidance
Hardware description, including displays and interfaces
Software description, including all menus of the web configuration
Commissioning
Protocol description, structure of the CAN- telegrams, Feldbus (external implementa-
tion on profinet, profibus, etc.)
Listing of data, which can be logged on an USB stick for analysis purposes
Trouble shooting
1.3 Intended Use
WARNING!
The navigation controller is not a safe device! It may only be operated in connection with a
safety system!
Due to its design the navigation controller is designated for a wide scope of applications. It
can only be applied for the track guidance of vehicles if the manufacturer or the plant oper-
ator ensure that sensors for position detection are used that are suitable for the require-
ments of that specific place and thus work fully (GPS e.g. is only suitable for outdoor envi-

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
8Chapter 1: Introduction HG G-73650ZD
ronments with the restriction that the GPS signals experience no interferences due to
occlusions). Furthermore it is essential that all parameters, e.g. concerning the vehicle's di-
mensions and functions as well as the position of the axles and wheels have to be entered
with utmost accuracy. Consequently for new projects a comprehensive testing of the set-
tings with a jacked-up vehicle within a closed down section of the plant is always recom-
mended.
ATTENTION!
As vehicles using the steering controller usually drive fully automated during their final / last
implementation step, there is always the risk of damages to the vehicles and the environ-
ment if any incorrect parameters or faulty input signals are entered!
The vehicle manufacturer as well as the plant operator are obliged to operate with the great-
est care and to inform all persons either on the vehicle or in the danger zone surrounding
the machine about the risks involved. Furthermore all persons entrusted with carrying out
work within or close to the area of automated operation have to be informed that the vehicle
is driving autonomously.
1.4 Requirements / Options
– If you want to use the internal sensor fusion, at least one rotary encoder or any other
velocity or distance determining sensor has to be in operation. When rotary encoders
are directly connected to the steering controller please ensure that it is a push/pull
type with an output voltage of 5 to 25 V, two tracks perpendicular to each other and a
resolution of 0.1 to 1 mm / pulse. Using data telegrams on the bus it is also possible
to work with encoders to which this limitation does not apply. For an improved accu-
racy or to achieve redundancy you can also use Gyro HG 84300 (according to
odometry).
– If a transponder positioning system is to be used, its antennas can be connected via
CAN bus. Alternatively or in connection with the transponder system you can use a
GPS system.
– When using the laser scanner HG 43600 two rotary encoders and two steering
encoders have to be connected directly to the navigation controller or deliver their
data via the wheel telegrams on the bus.
– Some steering servos and motor control units can be controlled / addressed directly
by the navigation controller so that a vehicle control system for each individual appli-
cation (e.g. PLC) is not absolutely necessary for each application. However, in terms
of monitoring, redundancy and customized adaptions a vehicle control system is
always recommendable for larger vehicles.
– If emergency stop functions are to be provided, a vehicle control system is manda-
tory as the highest possible safety can only be achieved when both steering control-
ler and vehicle control system are installed.