Gotting HG 7335 ZA Series Operating and installation instructions

Device Description HG 7335xZA
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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.: [phone] / 80 96 -0,
Fax: [phone] / 80 96 -80, eMail: [email protected], Internet: www.goetting.de

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

Content HG 7335xZA
English, Revision 03, Date: 20.11.2015 4
14.3 Trade Marks and Company Names........................................ 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
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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
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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
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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
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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.