Gotting HG 7335 ZA Series Operating and installation instructions
Device Description HG 7335xZA
Interpreter for the Inductive
Track Guidance of Vehicles
for the connection of 2 antennas / interfaces:
CANopen® HG 73350ZA & Profibus HG 73351ZA
HG 7335xZA
English, Revision 03 Dev. by: W.M.
Date: 20.11.2015 Authors.: RAD / A.F.
Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: +49 (0) 51 36 / 80 96 -0,
Content HG 7335xZA
English, Revision 03, Date: 20.11.2015 2
Content
1 Introduction.......................................................................5
1.1 Variant Overview .................................................................... 5
1.2 Components ........................................................................... 5
2 Mounting...........................................................................6
2.1 Casing.................................................................................... 6
2.2 Connectors ............................................................................. 6
2.2.1 Antenna Sockets on the Interpreter ................................................ 6
2.2.2 CAN Bus (HG 73350)..................................................................... 7
2.2.3 Profibus (HG 73351)......................................................................7
2.2.4 Power supply and serial interface................................................... 8
3 Commissioning..................................................................9
4 Hardware ........................................................................10
4.1 Monitoring ............................................................................ 10
4.2 Presettings ........................................................................... 10
4.3 Processing the signal............................................................ 10
4.4 The Control LEDs ................................................................. 11
4.4.1 CAN Bus (HG 73350)................................................................... 11
4.4.2 Profibus (HG 73351).................................................................... 11
5 Software .........................................................................12
5.1 Monitor program ................................................................... 12
5.1.1 Main menu .................................................................................. 12
5.1.2 Antenna menu ............................................................................. 14
5.1.3 CAN menu (HG 73350) ................................................................ 16
5.1.4 Profibus-Menu (HG 73351) .......................................................... 17
5.2 Switching to different environment parameters ...................... 18
5.3 Updating the Firmware.......................................................... 18
6 CAN Interface (HG 73350)...............................................20
6.1 Definition of the Terms CAN and CANopen® ......................... 20
6.2 Description of the process data objects (PDOs) ..................... 22
6.2.1 Transmission objects ................................................................... 22
6.2.1.1 PDO_1 ................................................................................... 22
6.2.1.2 PDO_2 ................................................................................... 23
6.2.2 Receiving objects ........................................................................ 24
6.3 Heartbeat ............................................................................. 24
6.4 Writing on service data objects (SDOs) ................................. 24
Content HG 7335xZA
English, Revision 03, Date: 20.11.2015 3
6.5 Object directory .................................................................... 25
6.5.1 Communication specific entries.................................................... 25
6.5.2 Manufacturer entries.................................................................... 27
6.5.3 Standard device profile ................................................................ 28
6.5.4 CANopen Object Dictionary ......................................................... 28
6.5.4.1 Device Type ........................................................................... 28
6.5.4.2 Error Register ......................................................................... 28
6.5.4.3 COB-ID SYNC message.......................................................... 29
6.5.4.4 Device Name .......................................................................... 29
6.5.4.5 Hardware Version ................................................................... 29
6.5.4.6 Software Version .................................................................... 29
6.5.4.7 Save Parameter ...................................................................... 29
6.5.4.8 Restore Default Parameter...................................................... 30
6.5.4.9 Producer Heartbeat Time ........................................................ 30
6.5.4.10 Identity Object ........................................................................ 31
6.5.4.11 Receive PDO Parameter ......................................................... 31
6.5.4.12 Mapping RPDO_1 ................................................................... 31
6.5.4.13 Transmit PDO_1 Parameter .................................................... 32
6.5.4.14 Transmit PDO_2 Parameter .................................................... 32
6.5.4.15 Mapping TxPDO_1.................................................................. 33
6.5.4.16 Mapping TxPDO_2.................................................................. 33
6.5.4.17 Manufacture Parameter - parameters of the antenna ............... 34
6.5.4.18 Manufacture parameter - calibration of the antenna ................. 35
6.5.4.19 Manufacture parameter - node parameter................................ 36
6.5.4.20 8 Bit Digital Input (transmitted in TxPDO 1) ............................. 37
6.5.4.21 16 Bit Analog Inputs (transmitted in TxPDO 1 und TxPDO 2) ... 37
7 Profibus Interface (HG 73351) .........................................38
8 Troubleshooting ..............................................................39
9 Technical Data ................................................................40
10 Appendix.........................................................................41
A Block Diagrams................................................................................ 41
B Diagrams.......................................................................................... 42
C Electronic Data Sheet (ESD File, HG 73350)................................... 45
D GSD File (HG 73351)....................................................................... 45
11 List of figures ..................................................................46
12 List of tables ...................................................................47
13 Basic Information for Reading this Manual .......................49
14 Copyright and Terms of Liability ......................................50
14.1 Copyright.............................................................................. 50
14.2 Exclusion of Liability ............................................................. 50
Introduction HG 7335xZA
English, Revision 03, Date: 20.11.2015 5
1 Introduction
The described interpreter allows to connect two tracking antennas to one device. The
interpreter contains two identical channels with an independent setting of the filter fre-
quency. The data output is carried out either via CAN Bus or Profibus, this depends on
the Variant (see below). For CAN the CANopen® protocol is implemented (Device Pro-
fil DS 401).
The parameters inside the interpreter can either be set via a serial interface using a
terminal program (e.g. HyperTerm) or for the CAN version via the various SDOs of the
CANopen® protocol.
1.1 Variant Overview
The interpreter is available in two variants that differ in the interface:
This manual describes the hardware revision 73350ZA2 starting at software
73350A01.14 (HG 73350ZA) resp. 73350YA2 with software 73351A01.00 (HG
73351ZA).
1.2 Components
At the time this manual was printed, the interpreter can be combined with the following
antennas:
-HG 19200
-HG 19210
-HG 19535
Technical informations in PDF format about these antennas can be found on our web-
site http://www.goetting-agv.com/components/inductive
Variant Interface
HG 73350ZA CAN-Bus / CANopen®
HG 73351ZA Profibus
Table 1 Variant Overview
Mounting HG 7335xZA
English, Revision 03, Date: 20.11.2015 6
2Mounting
2.1 Casing
Figure 1 Casing interpreter HG 73350/HG 73351
2.2 Connectors
All connectors are A-coded M12 panel plugs/jacks.
2.2.1 Antenna Sockets on the Interpreter
The steering antennas are connected via a 1:1 cable to the corresponding 4-pin A-
coded M12 panel jack. The two panel jacks are shown in Figure 1, labeled ANT1 and
ANT2. They are allocated as follows:
These panel jacks provide connection to the antennas. It is irrelevant whether one or
two antennas are connected. When using only one antenna, ANT1 or ANT2 can be
chosen. The displaying of CD1/CD2 on the front panel (see „Position of the LEDs“ on
page 11.) refers to the corresponding antenna input. The input voltage of ANT1 and
ANT2 are processed internally as US1/UD1 or US2/UD2.
Pin Signal
1+24 V
2GND
3Usum
4Udiff
Table 2 Pin allocation antenna sockets
drillhole for mounting
Mounting HG 7335xZA
English, Revision 03, Date: 20.11.2015 7
2.2.2 CAN Bus (HG 73350)
The CAN bus is connected to the device via two 5-pin A-coded M12 connectors male/
female (see „Casing interpreter HG 73350/HG 73351“ on page 6.). There they can be
found as BUS1 and BUS2, which are allocated as follows:
The connectors of the inputs BUS1/BUS2 are connected in parallel, i.e. there is no in-
put 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 form different manufacturers
and are available for most plugs and jacks. The CAN connectors can also be used as
power supply.
ATTENTION! Do not connect +24V to pin 4 or 5!
2.2.3 Profibus (HG 73351)
Two 5-pin B-coded M12 male/female, indicated as BUS1 and BUS2 in Figure 1 above.
There they can be found as BUS1 and BUS2, which are allocated as follows:
The connectors of the inputs BUS1/BUS2 are connected in parallel, i.e. there is no in-
put or output. If the interpreter is installed at the end of the bus line, a bus terminator
shall be provided. Those terminators can be ordered from different manufacturers and
are available for most plugs and jacks.
Pin Signal
1Nc
2+24 V
3GND
4CAN_H
5CAN_L
Table 3 Pin allocation CAN bus
Pin Signal
1Bus +5 V
2Bus A
3RTS
4Bus B
5Bus GND
Table 4 Pin allocation Profibus
Mounting HG 7335xZA
English, Revision 03, Date: 20.11.2015 8
2.2.4 Power supply and serial interface
Here a 5-pin A-coded M12 panel plug is used, in Figure 1 referred to as PWR RS232.
This connection serves as the power supply. Additionally the serial interface RS 232
can be used for parametrization.
Pin Signal Annotation
1+24 V
2Nc
3TxD Serial RS 232 data output
4RxD Serial RS 232 data input
5GND
Table 5 Pin allocation of power supply and serial interface
Commissioning HG 7335xZA
English, Revision 03, Date: 20.11.2015 9
3 Commissioning
After mounting or changing the antennas, a position calibration is recommended.
Please see chapter 5.1.2 on page 14 and 6.5.4.18 on page 35. The position calibration
has to be carried out for each antenna individually.
NOTE! Only by processing this position calibration the interpreter is able
to calculate and display the deviation scaled to mm.
For a position calibration the following things are required:
positioning of the antenna at nominal height. The nominal height must correspond
to the one set in the interpreter (see section 5.1.2 on page 14)
a guide wire with a rated current (if possible 10 kHz)
The calibration can be started by using the serial interface. During this procedure the
antenna has to be moved from left to right in a certain area, being two times mounting
height above the wire (see 6.5.4.18 on page 35 resp. Figure 6 on page 15).
Hardware HG 7335xZA
English, Revision 03, Date: 20.11.2015 10
4 Hardware
The casing of the interpreter is made of plastic. All wires etc. can be connected via
M12 connectors on the front panel. The input signals (two per antenna) are amplified,
filtered with an adjustable band filter (frequency input, see Figure 13 on page 42) and
rectified synchronously. Afterwards the direct current is smoothened by a low-pass fil-
ter (see block diagram, Figure 11 on page 41)
4.1 Monitoring
The function of the antennas is controlled: the horizontal component of the field (sum
antenna) is usually controlled by the threshold bits in the system status as a reference.
The vertical component of the field (difference antenna) equals 0 above the middle of
the wire, but a defective difference channel would always cause a deviation of 0. That
is why both channels are controlled by a DC monitoring. In front of the receiving induc-
tors, 5V are fed into the circuit, which are passed on from amplifier to amplifier until
reaching the interpreter. If this voltage is applied, the status bits DC1-OK respectively
DC2-OK are set.
4.2 Presettings
To run the interpreter under different conditions without having to change the circuit
board, the input signals have been scaled: An input amplitude of 1 Vpp reaches a full
range of 75 % between sum channel and the difference channel. The Node-ID is pre-
set to 1. The maximal incoming signal of all data streams having other frequencies is
5Vpp.
As the parameters of the device (reading height, wire current) can be altered, it is no
problem that the antennas are having different dimensions or being adjusted different-
ly.
The interpreter is preset to a frequency of 10 kHz. The threshold for the calculation of
the distances referring itself to 1000 units is preset on input voltage S1 respectively S2.
If the sum voltage lies above this value, the corresponding bit is set in the system sta-
tus and the corresponding LED CDx lights up. These presettings can be modified us-
ing a serial terminal (for example HyperTerm on a PC) or via the various SDOs of the
CANopen® protocol (s. Table 20 on page 27).
The two channels of the interpreter have the same presettings.
4.3 Processing the signal
The four voltages of the four channels are checked every 500 μs and are summed up
during a period of 8 ms. Each 10 ms the CANopen® resp. Profibus protocol are pro-
vided with the measured values. The scaled distances are put out in mms. To calculate
those distances the quotients are formed (current compensated).
The 16x oversampling and the use of a 10bit A/D converter lead to a value range of
the sum voltage of 16384, of the difference voltage of ±8192.
Hardware HG 7335xZA
English, Revision 03, Date: 20.11.2015 11
As in this range the DC offsets of the channels have to be compensated, a range of
about 16000 resp. ±8000 units is usable. Further information may be found in chapter
6 on page 20 (CAN Bus) resp. chapter 7 on page 38 (Profibus).
4.4 The Control LEDs
On the front panel a group of 5 LEDs can be found.
Figure 2 Position of the LEDs
-PWR: Green, presents the power voltage of the device
-CD1, CD2: Yellow, show the exceeding of the sum voltage and the set thresholds
for channel 1 and 2.
The green LED (BUS) and the red LED (ERR) behave differently depending on the in-
terface, CANopen® or Profibus.
4.4.1 CAN Bus (HG 73350)
-The green LED (BUS) flashes after turning on the device. It shows the status of the
device:
-Node stop: LED flashes slowly
-Node reset communication and node preoperational: LED flashes fast
-Node operational: LED is lit continously
-The red LED (ERR) starts to flash as soon as a CAN bus error occurs. Additionally
the red flashing LED displays an error in the set of parameters.
4.4.2 Profibus (HG 73351)
-BUS: Green, is lit while data is exchanged with the Profibus master.
-ERR: Red, is activated if one of the following error conditions occurs:
-EEPROM parameter checksum is not correct.
-Profibus protocol chip hardware error.
-Profibus buffer error, if modules other than those specified in the GSD file
are displayed.
-CD1/CD2 lights up if there is a sum level, but a wire break on the differential chan-
nel has been detected.
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 12
5 Software
5.1 Monitor program
The terminal (PC with the terminal program) has to be connected to the interpreter us-
ing the socket in the middle (power supply and serial interface). The parameters for
the serial interface are:
38400,8,e,1,ANSI Terminal emulation.
All terminal programs that support the ANSI emulation should work. In case you don‘t
have a terminal program installed you can download the program HyperTerminal®
from the following address (free until version 6.3): https://www.hilgraeve.com/hyperter-
minal/ From here on we‘ll use this program as a synonym for Terminal programs and
call it HyperTerm. Connect the PC to the interpreter and start HyperTerm.The monitor
will start after pressing ‘m‘ or .
5.1.1 Main menu
According to the variant the following menu appears:
Figure 3 Screenshot: Main menu of the monitor program (HG 73350 with CAN Bus)
Figure 4 Screenshot: Main menu of the monitor program (HG 73351 with Profibus)
S1: 1 D1: -10 S2: 10816 D2: -4403 X1:-256 mm X2: -50 mm Status: 0x40
(1) Select Antenna System 1
(2) Select Antenna System 2
(C)AN Menue
(L)oad Values to EEProm
(O)utput CSV-Data (press 'a' to abort)
(U)pdate Firmware
(S)ervicemenue
(Q)uit
Software Version 73350A01.05 / 15.MAR.2005 Serial Number: 9999999
S1: 6418 D1: 65 S2: 0 D2: -16 X1: +0 X2: -256 Status: 0x80
(1) Select Antenna System 1
(2) Select Antenna System 2
(P)rofibus Menu
(L)oad Values to EEProm
(O)utput CSV-Data (press 'a' to abort)
(U)pdate Firmware
(S)ervicemenue
(Q)uit
Software Version 73351A01.00 / 03.SEP.2008 Serial Number: 7385277
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 13
The first two lines represent the input.
S1, S2, D1, D2
The values for S1, D1, S2, and D2 are each the sum of the 16 samplings. The range
for the sum voltage is 0 to 16383 and for the difference voltage -8192 to +8191.
X1, X2
X1 and X2 present the calculated values for the collateral deviation of the antennas
above the guide wire in a range from -255 to +255 in mm. The value of the threshold
will be -256 if the corresponding voltages of S1 respectively S2 fall below the set
threshold.
Status
The hexadecimal output of binary coded system statuses in the same format as output
via the serial telegram, PDO_1 (CAN) or Profibus.
Example: If 0xCC is put out, the thresholds in both channels have been
exceeded and both difference channels are operational.
Selecting a menu
-with respectively the menus for the two antenna systems can be chosen,
see 5.1.2 on page 14
-opens the CAN menu, see 5.1.3 on page 16
-opens the Profibus menu, see 5.1.4 on page 17
-changed parameters can be saved in the EEProm by pressing . To confirm
those changes the password 815 has to be entered immediately after.
-to protocol data, the output in CSV (Comma Separated Values) mode can be acti-
vated by pressing . Then the values of the status line will be displayed sepa-
rated by comma and terminated by CrLF:
Example:
0x80 S1 has exceeded the set threshold for channel 1
0x40 S2 has exceeded the set threshold for channel 2
0x20 not connected
0x10 calibration in progress
0x08 DC1_OK (difference channel 1 connected galvanically with interpreter)
0x04 DC2_OK (difference channel 2 connected galvanically with interpreter)
0x02 not connected
0x01 check sum of the two parameters is wrong
Table 6 Meaning of the possible values in the status output
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 14
44,0,-15,9627,-3335,-256,50
44,0,-17,9626,-3333,-256,51
In this example the first number “44“ presents the current status of the device
(here: threshold 2 exceeded), then Us1= 0 and Ud1= 17, followed by Us2= 9626
and Ud2= -3333. The last displayed numbers show the collateral deviations for
antenna 1 and antenna 2. If no wire was detected, -256 is displayed as distance
value.
By using the protocol function of Hyperterm the data can be logged. stops the
output.
-with the firmware can be updated, see 5.3 on page 18
-the ervicemenu cannot be modified by the user
5.1.2 Antenna menu
In this chapter the sub menu for antenna 1 will be explained. The sub menu for antenna
2 is identical.
Figure 5 Screenshot: Antenna menu
-By pressing the frequency in the range of 1 to 28 kHz can be modified. Please
note that the antenna HG 19210-C works in a range from 3 to 25 kHz!
-helps adjusting the threshold which refers to the sum voltage. When this
threshold is exceeded, the front LED CDx and the corresponding bits in the sys-
tem status are set.
-By using the distance between the guide wire and the bottom of the sensor can
be modified.
-With the internal height, which is specified for each type of antenna, can be
entered.
NOTE! The sum of the values entered under and are used to cal-
culate the distance
S1: 1 D1: -10 S2: 10816 D2: -4403 X1:-256 mm X2: -50 mm Status: 0x40
(F)req 1 select [/Hz]: 10000
(D)etect Level 1 [/Smpl]: 1000
(H)eight of Antenna mounting [/mm]: 60
(I)nternal height [/mm]: 35
(C)alibrate
(Q)uit
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 15
-starts the calibration of the distance output. Now the corresponding antenna
has to be moved in an area of ±2x height over the guide wire. For the calibration a
10 kHz wire frequency is recommended as the frequency compensation is also
referred to this frequency.
-With the menu can be left.
Calibration menu
The calibration menu (here: antenna 1) is made up as follows:
Figure 6 Screenshot: Calibration menu antenna 1
During the calibration the maximum of the voltage S1 is saved in Us1. In Udl1 and
Udr1 the maximum of the voltage D1 on the left and right side from the wire is saved.
During this procedure the sensor has to be moved e.g. ±120 mm above the wire if the
reading height is 60 mm. This equals a value of reading height multiplied with two.
After pressing any key the calibration values are calculated using the maxima and the
reading height, which was entered in the antenna menu. To save these values perma-
nently has to be pressed in the main menu.
S1: 3780 D1: 3617 S2: 3133 D2: 4590 X1: +62 X2: +99 Status: 0xc0
Us1: 3795 Udl1: 0 Udr1: 3645
shift Antenna 1 from -2*H to +2*H and press any key when ready
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 16
5.1.3 CAN menu (HG 73350)
You can find general information about the CAN Bus and the corresponding terms in
chapter 6 on page 20. The CAN menu is made up as follows:
Figure 7 Screenshot: CAN menu (HG 73350)
In addition to the above described staus line, the status of the CAN bus is displayed:
Bus online changes to Bus offline if e.g. the CAN bus is unplugged or because
of lacking a terminator. Besides that the CAN open Node statuses stopped,
preoperational or operational are displayed. The following keys have a specif-
ic function:
-with the node address in a range from 1 to 127 can be chosen.
-by pressing one of the listed baudrates can be chosen, the function autobaud
is not implemented.
-by using key the PDO_1 operational mode can be selected. Choosing a value
between 1 and 240 the synchronous, cyclical mode can be picked. By selecting
255 the asynchronous mode is set. The two following modes are only available in
the asynchronous mode:
-is the inhibit time of PDO_1. In PDO_1 the system status and the cal-
culated distances are transmitted. The inhibt time is the shortest time
period between two periods that can be achieved.
-is the time of the cycle of the PDO_1 transmission. If both values are 0,
PDO_1 will no be transmitted.
-by pressing the operational mode PDO_2 is selected. Choosing a value
between 1 and 240 the synchronous, cyclical mode can be chosen. By selecting
255 the asynchronous mode is set. The two following modes are only available in
the asynchronous mode:
-is the inhibit time of PDO_2. In PDO_2 the four analog antenna voltages
are transmitted. The inhibt time is the shortest time period between two
periods that can be achieved.
S1: 0 D1: -6 S2: 0 D2: -40 X1: -256 X2: -256 Status: 0x00
Bus online Operational Last Err: 0000
(N)ode ID [1..127]: 1
CAN-(B)audrate[20,50,125,250,500,800,1000 kB]: 500
(C) TPDO_1 mode [1..240,255]: 255
(D) TPDO_1 inhibit time [0,10..10000 ms]: 0
(E) TPDO_1 event time [0,10..10000 ms]: 10
(F) TPDO_2 mode [1..240,255]: 255
(G) TPDO_2 inhibit time [0,10..10000 ms]: 0
(H) TPDO_2 event time [0,10..10000 ms]: 10
(I) Heartbeat time [0..65535 ms]: 0
(A)utostart 1
(L)owbyte first 0
(Q)uit
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 17
-is the time of the cycle of the PDO_2 transmission. If both values are 0,
PDO_2 will no be transmitted.
-changes the so called Heartbeat time. At the chosen interval of this cycle
time a control message is sent. If the time equals 0 no message is sent.
-with the autorun function is (de)activated.
-if autorun is deactivated only the Heartbeat message (if activated) is sent
after turning on the device. The mode of the device is preoperational.
-if autorun is activated the Heartbeat message (if activated) and the PDOs
are sent immediately after turning on the device. The mode of the device is
operational.
-by pressing the order of the bytes within the PDOs is changed: by choosing
Lowbyte first = 1 the low order byte of a 16bit word is transmitted first.
5.1.4 Profibus-Menu (HG 73351)
The specification of the Profibus telegrams is shown in chapter 7 on page 38. The
Profibus menu is made up as follows:
Figure 8 Screenshot: Profibus-Menu (HG 73351)
In this menu the following keys have a specific function:
-for choosing the node address in a range of 0 to 126
-for inverting the order of the bytes of the variables X1, X2 and F2 within the
master- input and output data fields. Setting (L)owbyte first = 1the low byte
of a 16 Bit word ist transmitted first.
-Press uit to return to the main menu.
If pre-defined, the content of the master input or the output bytes will be displayed in
this menu. The status of the profibus is output as well.
S1: 6453 D1: 65 S2: 0 D2: -13 X1: +0 X2: -256 Status: 0x80
Byte # Master-Input Profibus-Status: NO_ERROR
0 80
1 00
2 00 (N)ode ID [0..126]: 2
3 00 (L)owbyte first 0
4 ff
(Q)uit
Byte # Master-Output
0 00
1 00
2 00
3 00
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 18
5.2 Switching to different environment parameters
The interpreter can also be used in combination with tracking systems which have an-
other guide wire current or another reading height. Minor changes in the surrounding
of the device (e.g. guide wire current between 35mA and 100mA at the same reading
height) are compensated by the dynamic range of the device.
The different guide wire currents, distances between the conductors and reading
heights are adapted to the antennas by changing the amplification factor. To change
these factors the monitor program has to be started, the displayed voltages Sx and Dx
have to get noticed.
The maximum of the sum voltage can be found above the conductor. By using the cor-
responding potentiometer for the antenna, it has to be trimmed to approx. 12000 units.
The maximum of the difference voltage can be found at a corresponding distance col-
lateral from the conductor. By using the corresponding potentiometer for the antenna
it has to be trimmed to 6000 units.
5.3 Updating the Firmware
The processor inside the interpreter can be programmed via a Flashloader using the
serial interface. Therefor a serial connection to a PC has to be established.
1. Establish a connection with HyperTerm.
NOTE! The XON/XOFF flow control has to be activated!
2. Start the interpreter‘s main menu (description see above) and choose for
(U)pdate firmware. Then enter the password 815.
On the screen the following image appears:
Figure 9 Screenshot: Firmware update
Please wait for 'R' and transfer Intel-Hex file as ASCII upload
--------------
Flash Loader
T89C51CC03
(c)GoettingKG
18.10.04
--------------
73350A0
--------------
P
Software HG 7335xZA
English, Revision 03, Date: 20.11.2015 19
Now wait until the deletion of the flash memory is getting confirmed with <R>. Then
choose the menu <Transmisson> <Send Text file> in Hyperterminal and enter
the name of the software which should be programmed. The progress of the program-
ming is displayed by <.> points. The symbol <o> shows that the procedure is finished.
Figure 10 Screenshot: Firmware upload
Afterwards the new firmware is started immediately. If the transmission was not suc-
cessful neither the old nor the new firmware can be found in the device. Yet the flash
loader is always available and starts automatically after rebooting the device.
Please wait for 'R' and transfer Intel-Hex file as ASCII upload
--------------
Flash Loader
T89C51CC03
(c)GoettingKG
18.10.04
--------------
73350A0
--------------
PR..............................................................................
................................................................................
................................................................................
................................................................................
................................................................................
................................................................................
................................................................................
..............................................................................O
CAN Interface (HG 73350) HG 7335xZA
English, Revision 03, Date: 20.11.2015 20
6 CAN Interface (HG 73350)
The node ID and the transfer rate have to be selected by using the serial monitor (de-
scribed in section 5.1 on page 12) or the corresponding SDOs.
The measured values of the system are transmitted via two so called TxPDOs. They
can be parametrized using the SDOs. Additionally the frequencies of the two wires can
be altered using a non-cyclical RPDO. The CAN identifier can be deduced ny the node
adress (1 to 127).
6.1 Definition of the Terms CAN and CANopen®
The CAN / CANopen® configuration is implemented according to ISO 11898 resp. EN
50325-4. As an assistance some of the terms and abbreviations are explained in this
section. For more specific information please refer to the corresponding norms or
open the website http://www.can-cia.org/en/standardization/technical-documents/
where — after a free registration — you can download the technical specifications of the
CANopen® standard.
For devices that support CANopen® Götting offers EDS files (Electronic Data Sheet)
for download from its website at http://www.goetting-agv.com/components (and the
sub pages). In those files the complete CAN configuration is defined. In order to use
those files to e.g. configure CAN workflows with several devices a software like e.g.
CANopen® Magic by PEAK System has to be used: http://www.canopenmagic.com
Please observe that not each device supports all operation modes. Devices by Göt-
ting usually support the modes 1 to 240 and 255.
Value cyclic acyclic synchronous asynchronous on request only (RTR)
0 x x
1-240 x x
241-251 reserved
252 x x
253 x x
254 x
255 x
Table 7 Parameters PDO operation mode
This manual suits for next models
2
Table of contents
Other Gotting GPS manuals
