Gotting HG G-73650ZD Manual

Navigation Controller
HG G-73650ZD
Basics, Setup and Software
English, Revision 08 Date: 15.11.2018 Dev. by: ML / LM / TE Author(s): RAD / ML
Documentation HG G-73650ZD
Innovation through Guidance www.goetting-agv.com
Autonomous Vehicles

Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018
2Overview
© 2018 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 08 | Date: 15.11.2018
3
Table of Contents
Contents
1 Introduction....................................................................................... 8
1.1 Presentation of Information .............................................................................................. 8
1.1.1 Warning Notices ............................................................................................................... 8
1.1.2 Symbols ............................................................................................................................... 9
1.2 Tasks of the Navigation Controller................................................................................10
1.3 Intended Use ........................................................................................................................10
1.4 Requirements / Options....................................................................................................11
2 Basic Principles of Track Guidance ............................................... 12
2.1 Suitable and Unsuitable Vehicle Types........................................................................12
2.2 System Composition..........................................................................................................13
2.3 Position Determination with Sensor Fusion...............................................................13
2.3.1 The Odometry..................................................................................................................14
2.3.2 Freeze ONS.......................................................................................................................14
2.3.3 Compensation of Wheel Diameters..........................................................................15
2.3.4 Sensors for Navigation .................................................................................................15
2.3.4.1 Transponder Antenna ...............................................................................................15
2.3.4.1.1 Single Antenna Evaluation – Calculation of the Position with
one Antenna ............................................................................................................16
2.3.4.1.2 Double Antenna Evaluation ................................................................................18
2.3.4.1.3 The Triple Antenna Evaluation...........................................................................19
2.3.4.1.4 Initialising the Transponder Sensor Fusion (Placing Vehicle on
the Track) .................................................................................................................19
2.3.4.1.5 The Transponder List............................................................................................20
2.3.4.2 The GPS/GNSS System ............................................................................................20
2.4 Coordinate Systems ...........................................................................................................21
2.4.1 The Vehicle Coordinate System.................................................................................21
2.4.2 The Local Coordinate System.....................................................................................22
2.4.3 Characteristics of the Coordinate Systems............................................................22
2.5 Reconstruction of the Route (Segments)....................................................................23
2.5.1 Virtual Tracks ...................................................................................................................23
2.5.2 The Segment File............................................................................................................24
2.5.2.1 Structure of the Segment File................................................................................24
2.5.2.2 The Segment Search.................................................................................................26
2.5.2.3 Selection of Segments .............................................................................................26
2.5.2.4 Transmission of Segments......................................................................................28
2.5.2.5 FTP Transmission of Segments .............................................................................28
2.5.3 Attributes ..........................................................................................................................29
2.5.3.1 Offset Driving ..............................................................................................................29
2.5.3.2 Inverted Steering........................................................................................................31
2.5.3.3 Stop Distance ..............................................................................................................32
2.5.3.4 Spot Turn ......................................................................................................................32
2.5.4 Creating / Editing of a Segment File ........................................................................33
2.6 Track Guidance....................................................................................................................33
2.6.1 Speed Calculation ..........................................................................................................35
2.6.1.1 Ramps in the Navigation Controller .....................................................................35
2.6.1.2 Speed Ramp ................................................................................................................36
2.6.1.3 Stop Ramp....................................................................................................................37
2.6.2 Adjustment of the Speed by the PLC .......................................................................37
2.6.3 Automatic Adjustment of Segment Speeds...........................................................37
2.6.4 Steering Angle Calculation ..........................................................................................38
2.6.5 Guidance of an omnidirectional Vehicle .................................................................38
2.6.6 Guidance of a non-omnidirectional Vehicle ...........................................................39

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2.6.7 Reverse Driving with a Trailer.....................................................................................40
2.6.8 Measuring Section..........................................................................................................41
2.6.9 Driving Modes..................................................................................................................42
2.6.9.1 Idle Mode ......................................................................................................................42
2.6.9.2 Parameter Test Mode................................................................................................42
2.6.9.3 Automatic Mode .........................................................................................................42
2.6.9.4 Remote Control Mode...............................................................................................42
2.6.9.5 Vector Steering Mode ...............................................................................................43
2.7 Communication with the Vehicle Control (e.g. PLC)................................................44
3 Hardware .........................................................................................45
3.1 Mounting................................................................................................................................46
3.2 Front Panel............................................................................................................................46
3.3 Control Elements on Front Panel ...................................................................................46
3.4 Display Elements on Front Panel ...................................................................................47
3.5 Connectors............................................................................................................................48
3.5.1 ETH......................................................................................................................................48
3.5.2 USB .....................................................................................................................................48
3.5.3 SIO 1 (GPS Receiver) .....................................................................................................48
3.5.4 SIO 2 ...................................................................................................................................49
3.5.5 CAN 1 .................................................................................................................................49
3.5.6 CAN 2 .................................................................................................................................50
3.5.7 SIO 3 ...................................................................................................................................50
3.5.8 POWER...............................................................................................................................50
3.5.9 IO .........................................................................................................................................51
3.5.10 ENCODER 1 / ENCODER 2...........................................................................................51
3.5.11 PROG ..................................................................................................................................51
3.5.12 ANT1 / ANT2 ....................................................................................................................51
3.6 Extension module Feldbus...............................................................................................52
4 Configuration via Web Sites...........................................................53
4.1 Main menu ............................................................................................................................54
4.2 Status Menu..........................................................................................................................55
4.2.1 Navigation Menu .............................................................................................................55
4.2.1.1 Status .............................................................................................................................55
4.2.1.2 Deviation .......................................................................................................................56
4.2.1.3 Seg. Table .....................................................................................................................56
4.2.1.4 Segment ........................................................................................................................56
4.2.1.5 PLC..................................................................................................................................57
4.2.2 Transponder Menu .........................................................................................................58
4.2.2.1 Antenna .........................................................................................................................58
4.2.2.2 Result .............................................................................................................................59
4.2.2.3 Odometry ......................................................................................................................59
4.2.3 GPS Menu .........................................................................................................................60
4.2.3.1 GPS .................................................................................................................................60
4.2.3.2 ONS.................................................................................................................................60
4.2.3.3 Controller Deviation...................................................................................................61
4.2.3.4 Controller Correction.................................................................................................61
4.2.3.5 Status .............................................................................................................................61
4.2.4 GPS Receiver Menu .......................................................................................................62
4.2.4.1 UTC .................................................................................................................................62
4.2.4.2 Status .............................................................................................................................62
4.2.4.3 Position..........................................................................................................................62
4.2.4.4 Diff. Data Age ..............................................................................................................63
4.2.4.5 Satellites........................................................................................................................63
4.2.4.6 Accuracy........................................................................................................................63
4.2.4.7 Base Vector ..................................................................................................................63
4.2.4.8 Heading .........................................................................................................................63
4.2.5 Error Menu ........................................................................................................................64

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Table of Contents
4.2.6 TCP Menu .........................................................................................................................65
4.3 Configuration Menu ...........................................................................................................65
4.3.1 Configuration –> Main ..................................................................................................66
4.3.2 Configuration –> Guidance .........................................................................................68
4.3.3 Wheels ...............................................................................................................................69
4.3.3.1 What type of vehicle is involved? .........................................................................69
4.3.3.2 The non-omnidirectional vehicle...........................................................................70
4.3.3.3 The omnidirectional vehicle....................................................................................71
4.3.3.4 Which wheels should be used for the odometry? ...........................................71
4.3.3.5 How are the positions specified on the vehicle?..............................................71
4.3.3.6 Configuration –> Wheels .........................................................................................72
4.3.4 Configuration –> Antenna ...........................................................................................74
4.3.5 Configuration –> Accuracy..........................................................................................75
4.3.6 Configuration –> Steer Controller .............................................................................76
4.3.7 Configuration –> Speed Controller ...........................................................................78
4.3.8 Configuration –> Sensor Fusion Transponder.......................................................80
4.3.9 Configuration –> Sensor Fusion GPS.......................................................................81
4.3.10 Configuration –> Gyro...................................................................................................83
4.3.11 Configuration –> Servo.................................................................................................84
4.3.12 Configuration –> Trailer ...............................................................................................87
4.4 Network Menu .....................................................................................................................89
4.5 Config File Menu.................................................................................................................90
4.5.1 Upload Configuration ....................................................................................................90
4.5.2 Download ..........................................................................................................................91
4.6 Segment File Menu ............................................................................................................91
4.6.1 Upload Segment File .....................................................................................................91
4.6.2 Download Segment File ...............................................................................................92
4.7 Segment Table Menu ........................................................................................................92
4.8 Transponder File Menu .....................................................................................................93
4.8.1 Upload Transponder File ..............................................................................................93
4.8.2 Download Transponder File ........................................................................................94
4.9 Transponder Table Menu..................................................................................................94
4.10 Parameter Test Menu ........................................................................................................95
4.10.1 Requirements for switching into the different modes........................................96
4.10.2 Possibilities in the 'Idle' mode....................................................................................96
4.10.3 Possibilities in the 'Test' mode...................................................................................97
4.10.4 Possibilities in the 'Auto' mode..................................................................................97
4.10.5 Specification of segments ...........................................................................................97
4.10.6 Setting a starting position ...........................................................................................97
5 Configuration via Terminal Program ............................................. 98
5.1 Connection Establishment ...............................................................................................98
5.2 Main Menu ............................................................................................................................99
5.3 A: Main Monitor Navigation.......................................................................................... 100
5.3.1 Display Output.............................................................................................................. 100
5.3.2 Input Possibilities ........................................................................................................ 102
5.4 B: Main Monitor Sensorfusion ..................................................................................... 103
5.4.1 Display Output.............................................................................................................. 103
5.4.2 Input Possibilities ........................................................................................................ 104
5.5 D: Data Logging................................................................................................................ 105
5.6 E: Parameter Test ............................................................................................................ 106
5.6.1 Display Output.............................................................................................................. 106
5.6.2 Input Possibilities ........................................................................................................ 107
5.7 N: Show Segments.......................................................................................................... 108
5.8 Q: Show Transponder..................................................................................................... 109
5.9 S: Segment Sequences .................................................................................................. 109
6 Commissioning .............................................................................111
6.1 Interfaces usually connected ....................................................................................... 111
6.2 Test / Real Operation...................................................................................................... 111
6.3 Commissioning the communication .......................................................................... 112

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6.4 Setting the parameters .................................................................................................. 112
6.4.1 Configuration -> Main ................................................................................................ 113
6.4.2 Configuration –> Guidance....................................................................................... 114
6.4.3 Configuration –> Wheels........................................................................................... 115
6.4.4 Configuration –> Antenna......................................................................................... 117
6.4.5 Configuration –> Accuracy ....................................................................................... 118
6.4.6 Configuration –> Steer Controller .......................................................................... 118
6.4.7 Configuration –> Speed Controller ........................................................................ 119
6.4.8 Configuration –> Sensorfusion Transponder ...................................................... 119
6.4.9 Configuration –> Sensorfusion GPS ...................................................................... 119
6.4.10 Configuration –> Gyro ................................................................................................ 120
6.4.11 Configuration –> Servo .............................................................................................. 120
6.4.12 Configuration –> Trailer............................................................................................. 120
6.5 Creating the segments ................................................................................................... 120
6.6 Simulation without vehicle and vehicle controller ................................................ 121
6.7 Simulation without vehicle and with vehicle controller....................................... 122
6.8 Commissioning a vehicle............................................................................................... 122
6.8.1 Testing and Optimizing the Parameters ............................................................... 123
6.8.2 Other Optimisations.................................................................................................... 126
6.8.3 Optimizing the Steering Controller ........................................................................ 127
6.8.4 Optimizing the Speed Ramps .................................................................................. 128
7 CAN Bus Protocol......................................................................... 130
7.1 How to send Segments to the Control Unit via the CAN Bus ............................ 130
7.2 Transmission Telegrams from Control Unit to PLC, the Wheels and
the Gyro .............................................................................................................................. 132
7.2.1 Status Box...................................................................................................................... 132
7.2.2 Path Data Box ............................................................................................................... 132
7.2.3 Segment Search Box .................................................................................................. 134
7.2.4 Error Box......................................................................................................................... 135
7.2.5 Sensorfusion Boxes .................................................................................................... 140
7.2.6 Wheel Boxes.................................................................................................................. 141
7.2.7 CAN Open Start / Stop Box ...................................................................................... 142
7.2.8 Servo Box ....................................................................................................................... 143
7.2.9 Gyro Box ......................................................................................................................... 143
7.2.10 Angle and Speed Box ................................................................................................. 144
7.2.11 ME1 Box ......................................................................................................................... 144
7.2.12 ME2 Box ......................................................................................................................... 145
7.2.13 Pol X/Y CAN2 Box........................................................................................................ 145
7.2.14 Polar CAN 1 / CAN 2 / CAN 1+2 Box ..................................................................... 146
7.3 Reception Telegrams from PLC, Wheels, Antennas, Gyro and Sen-
sor Fusion to the Control Unit...................................................................................... 146
7.3.1 PLC Control Box ........................................................................................................... 146
7.3.2 Path data (target) Box ................................................................................................ 148
7.3.3 Remote Control Box.................................................................................................... 149
7.3.4 Wheel Box...................................................................................................................... 150
7.3.5 Servo Box ....................................................................................................................... 151
7.3.6 Antenna Boxes.............................................................................................................. 151
7.3.7 Gyro Box ......................................................................................................................... 152
7.3.8 Sensor Fusion Boxes .................................................................................................. 153
7.3.9 Vector Box...................................................................................................................... 155
7.3.10 Steering Encoder Box................................................................................................. 156
7.3.11 Contelec Steering Encoder Box .............................................................................. 156
7.3.12 ME PDO 1 Box .............................................................................................................. 156
7.3.13 ME PDO 2 Box .............................................................................................................. 157
7.3.14 ME PDO 3 Box .............................................................................................................. 157
7.3.15 Wheel Reduction Box................................................................................................. 157
7.3.16 Trailer Box...................................................................................................................... 158
7.3.17 Segment Sequence Box ............................................................................................ 158
8 Feldbus/Ethernet (UDP) Output .................................................. 160
8.1 Tx Transmission Telegram Control Unit –> PLC .................................................... 160

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Table of Contents
8.2 Rx Reception Telegram PLC –> Control Unit.......................................................... 166
9 USB Data Logging: Scope of the Data ........................................ 171
9.1 Opening logged Data in Excel® .................................................................................. 171
9.2 List of Logged Parameters............................................................................................ 172
10 Trouble Shooting ..........................................................................185
11 Technical Data ..............................................................................187
12 Appendix........................................................................................188
12.1 Attributes............................................................................................................................ 188
12.2 Steering via Segment Sequences............................................................................... 189
12.2.1 Definition of Segment Sequences ......................................................................... 189
12.2.2 Starting Segment Sequences .................................................................................. 190
12.3 Radius Calculation with 16 Bit Resolution............................................................... 190
12.4 Configuration of the Ethernet Interface Parameters via SIO 2 ......................... 191
12.5 Firmware-Update via the USB Interface................................................................... 192
13 List of Figures ...............................................................................196
14 List of Tables.................................................................................199
15 Index ..............................................................................................202
16 Copyright and Terms of Liability .................................................205
16.1 Copyright ............................................................................................................................ 205
16.2 Exclusion of Liability....................................................................................................... 205
16.3 Trade Marks and Company Names ............................................................................ 205

Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018
8Chapter 1 – Introduction
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 synonymously throughout this document:
Control Unit (as printed onto the hardware)
navigation controller
Vehicle Guidance Controller (VGC)
1.1 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.
1.1.1 Warning Notices
In this device description warning notices appear before sequences of actions that
may lead to damage to persons or property. The listed actions for the danger preven-
tion have to 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 observing
the warning notice.
The paragraphs for danger prevention explain, how to avoid the danger.
SIGNAL WORD
Kind or source of the danger
Consequences
Danger prevention

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Introduction – Chapter 1
The signal words have the following meanings:
1.1.2 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.

Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018
10 Chapter 1 – Introduction
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 13
2. Reconstruction of the route to be driven (by means of segment files), see sec-
tion 2.5 on page 23
3. Track Guidance (controlling the vehicle on a track), see section 2.6 on page 33
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 imple-
mentation on profinet, profibus, etc.)
Listing of data, which can be logged on an USB stick for analysis purposes
Trouble shooting
1.3 Intended Use
Due to its design the navigation controller is designated for a wide scope of applica-
tions. It can only be applied for the track guidance of vehicles if the manufacturer or
the plant operator ensure that sensors for position detection are used that are suit-
able for the requirements of that specific place and thus work fully (GPS e.g. is only
suitable for outdoor environments with the restriction that the GPS signals experi-
ence no interferences due to occlusions).
Furthermore it is essential that all parameters, e.g. concerning the vehicle's dimen-
sions and functions as well as the position of the axles and wheels have to be en-
tered with utmost accuracy. Consequently for new projects a comprehensive testing
of the settings with a jacked-up vehicle within a closed down section of the plant is
always recommended.
DANGER
Danger through missing safety measures
The navigation controller HG G-73650ZD is not a safe device.
Only use the navigation controller in applications where sufficient additional
precautions for the protection of people and the detection of obstacles have
been taken.