Gotting HG G-73350ZB User manual

Track-Unit
HG G-7335xZB
Interpreter for the Inductive Track Guidance of Vehicles for the
connection of 2 antennas – Interfaces:
CANopen® HG G-73350ZB / Profibus HG G-73351ZB
English, Revision 07 Date: 10.05.2023 Dev. by: WM Author(s): RAD / MN
Guide Wire
www.goetting-agv.com
Innovation through Guidance
Device Description HG G-7335xZB

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
2Overview
Basic characteristics of the Track-Units HG G-73350ZB (CAN bus) and
HG G-73351ZB (Profibus)
Interpreter for inductive track guidance systems
For the connection of 2 guidance antennas
2 identical channels with independent filter frequency setting
Monitoring of connected antennas for correct operation and wire breakage
Interfaces:
- RS 232 service interface (all variants)
- CAN/CANopen® (HG G-73350)
- Profibus (HG G-73351)
Configuration via terminal program (RS 232) or via CAN-open® SDOs
© 2023 Götting KG, errors and modifications reserved.
The Götting KG in D-31275 Lehrte has
a certified quality management system
according to ISO 9001.

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
3
Table of Contents
1 About this Document....................................................................................5
1.1 Validity .............................................................................................................................................................5
1.1.1 Target Group............................................................................................................................................5
1.1.2 Other Applicable Documents...........................................................................................................5
1.2 Declaration of Conformity (only HG G-73350) ..............................................................................5
1.3 Presentation of Information...................................................................................................................6
1.3.1 Warning Notices.....................................................................................................................................6
1.3.2 Symbols......................................................................................................................................................7
2 Safety Instructions........................................................................................8
2.1 Intended Use.................................................................................................................................................8
2.2 Improper Use................................................................................................................................................8
2.3 Qualification of the Users........................................................................................................................9
2.4 Operating Conditions ................................................................................................................................9
2.5 General Safety Instructions.................................................................................................................10
2.6 Obligations of the Operator.................................................................................................................10
3 Introduction..................................................................................................12
3.1 Variant Overview......................................................................................................................................12
3.2 System Components..............................................................................................................................12
3.3 Accessories.................................................................................................................................................12
4 Mounting.......................................................................................................14
4.1 Casing Dimensions .................................................................................................................................14
4.2 Connectors..................................................................................................................................................14
4.2.1 Antenna Sockets on the Interpreter...........................................................................................14
4.2.2 CAN Bus (HG G-73350) ...................................................................................................................15
4.2.3 Profibus (HG G-73351).....................................................................................................................15
4.2.4 Power supply and serial interface...............................................................................................16
5 Commissioning ............................................................................................17
6 Hardware ......................................................................................................18
6.1 Monitoring...................................................................................................................................................18
6.2 Presettings ..................................................................................................................................................18
6.3 Processing the Signal ............................................................................................................................18
6.4 The Control LEDs.....................................................................................................................................19
6.4.1 CAN Bus (HG G-73350) ...................................................................................................................19
6.4.2 Profibus (HG G-73351).....................................................................................................................19
7 Software .......................................................................................................20
7.1 Connection to a PC via the Serial Interface .................................................................................20
7.2 Terminal Program....................................................................................................................................20
7.3 Monitor Program......................................................................................................................................21
7.3.1 Main Menu.............................................................................................................................................21
7.3.2 Antenna Menu......................................................................................................................................23
7.3.3 CAN Menu (HG G-73350) ...............................................................................................................24
7.3.4 Profibus Menu (HG G-73351)........................................................................................................26
7.4 Switching to Different Environment Parameters......................................................................26
7.5 Firmware-Update.....................................................................................................................................26
8 CAN Interface (HG G-73350) .....................................................................28
8.1 Definition of the Terms CAN and CANopen®.............................................................................28
8.2 Description of the Process Data Objects (PDOs) ......................................................................30
8.2.1 Transmission Objects........................................................................................................................30
8.2.1.1 PDO_1 ................................................................................................................................................30
8.2.1.2 PDO_2 ................................................................................................................................................32
Contents

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
4Table of Contents
8.2.2 Receiving Objects ...............................................................................................................................32
8.3 Heartbeat .....................................................................................................................................................33
8.4 Writing on Service Data Objects (SDOs) .......................................................................................33
8.5 Object Directory........................................................................................................................................33
8.5.1 Communication specific entries...................................................................................................34
8.5.2 Manufacturer entries.........................................................................................................................35
8.5.3 Standard device profile ....................................................................................................................36
8.5.4 CANopen Object Dictionary ...........................................................................................................36
8.5.4.1 Device Type ......................................................................................................................................36
8.5.4.2 Error Register...................................................................................................................................36
8.5.4.3 COB-ID SYNC message ..............................................................................................................37
8.5.4.4 Device Name....................................................................................................................................37
8.5.4.5 Hardware Version ..........................................................................................................................37
8.5.4.6 Software Version............................................................................................................................37
8.5.4.7 Save Parameter ..............................................................................................................................37
8.5.4.8 Restore Default Parameter........................................................................................................38
8.5.4.9 Producer Heartbeat Time...........................................................................................................38
8.5.4.10 Identity Object .................................................................................................................................38
8.5.4.11 Receive PDO Parameter .............................................................................................................39
8.5.4.12 Mapping RPDO_1..........................................................................................................................39
8.5.4.13 Transmit PDO_1 Parameter......................................................................................................39
8.5.4.14 Transmit PDO_2 Parameter......................................................................................................40
8.5.4.15 Mapping TxPDO_1........................................................................................................................40
8.5.4.16 Mapping TxPDO_2........................................................................................................................41
8.5.4.17 Manufacture Parameter - parameters of the antenna..................................................41
8.5.4.18 Manufacture parameter - calibration of the antenna....................................................42
8.5.4.19 Manufacture parameter - node parameter ........................................................................43
8.5.4.20 8 Bit Digital Input (transmitted in TxPDO 1) ......................................................................43
8.5.4.21 16 Bit Analog Inputs (transmitted in TxPDO 1 und TxPDO 2)...................................44
9 Profibus Interface (HG G-73351) ..............................................................45
10 Troubleshooting ..........................................................................................46
11 Technical Data .............................................................................................47
12 Appendix.......................................................................................................48
12.1 Block Diagrams.........................................................................................................................................48
12.2 Diagrams......................................................................................................................................................49
12.3 Electronic Data Sheet (EDS File, HG G-73350) ..........................................................................52
12.4 GSD File (HG G-73351)..........................................................................................................................52
13 List of Figures ..............................................................................................53
14 List of Tables................................................................................................54
15 Index..............................................................................................................56
16 Copyright and Terms of Liability...............................................................58
16.1 Copyright......................................................................................................................................................58
16.2 Exclusion of Liability ...............................................................................................................................58
16.3 Trade Marks and Company Names .................................................................................................58

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
5
About this Document – Chapter 1
1.1 Validity
This device description applies to the interpreter HG G-7335xZB.
It contains information on correct mounting, electrical installation, commissioning,
operation, maintenance and fault rectification.
This device description refers to devices from firmware as specified in section 3.1 on
page 12.
The operation of the interpreter is only reasonably possible together with Götting an-
tennas (see section 3.1 on page 12) and a current-carrying guide wire in the ground.
In combination with connected antennas and the guide wire we speak of a track
guidance system. In the following we will therefore speak of the interpreter (device)
or the system, depending on the context.
1.1.1 Target Group
This device description is intended for developers, manufacturers or operators of
systems or facilities that want to track guide Automated Guided Vehicles (AGV). It is
also intended for qualified personnel who
wants to integrate the system into a vehicle.
wants to carry out the initial commissioning of the system.
want to configure the system.
1.1.2 Other Applicable Documents
This device description does not include information on the operation of the higher-
level system, e.g. an automated guided vehicle (AGV), into which the evaluator is in-
tegrated.
Do not put the interpreter and the associated Götting antennas into operation
until you have received the operating instructions from the manufacturer or the
system operator and have read and understood them.
1.2 Declaration of Conformity (only HG G-73350)
The product HG G-73350 complies with the relevant harmonisation legislation of
the European Union. The relevant harmonized European standards and directives
mentioned in the Declaration of Conformity were used to assess conformity.
About this Document
Supplementary documents for devices from Götting are available
on request or directly via our Internet pages. The adjacent QR
code will lead you to our homepage www.goetting-agv.com. The
following links refer to specific product pages.
–Antenna type HG G-19200
http://www.goetting-agv.com/components/19200
–Antenna type HG G-19535
http://www.goetting-agv.com/components/19535
1

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
6Chapter 1 – About this Document
You can request the EU declaration of conformity from Götting KG
or download it from the following address
1.3 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.
1.3.1 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.
The signal words have the following meanings:
https://www.goetting-agv.com/components/7335x
SIGNAL WORD
Kind or source of the danger
Consequences
Danger prevention
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.

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
7
About this Document – Chapter 1
1.3.2 Symbols
In this device description the following symbols and formatting are used:
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).
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.

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
8Chapter 2 – Safety Instructions
This product has been manufactured in accordance with the generally recognized
rules of technology. Nevertheless, there is a risk of personal injury and material dam-
age if you do not observe this chapter and the safety instructions in this documen-
tation.
Read this documentation thoroughly and completely before working with the
product.
Store the documentation in such a way that it is always accessible to all users.
Always pass on the product to third parties together with the required docu-
mentation.
2.1 Intended Use
The interpreter is a component of guide wire track guidance systems for Automated
Guided Vehicles. The interpreter detects the deviation from the guide wires laid in
the ground by means of the antennas mentioned in section 3.1 on page 12 and
transmits it to the vehicle controller. Based on the transmitted values the steering in-
formation can be calculated.
The connected antennas are monitored for correct operation as well as for wire
breakage. The interpreter is only intended for the use in track guidance systems with
a maximum speed of 1 m/s without any passenger transportation.
Main area of application is the steering of automated guided vehicles, thus this is the
application we mainly address from here on.
The track guidance system may only be operated by qualified personnel at the oper-
ation place (e.g. vehicle) at which it was mounted or initially commissioned by qual-
ified personnel according to this device description. The operating conditions given
in section 2.4 on page 9 have to be observed.
The track guidance system does not include safety equipment. It may only be used
in applications where the manufacturer and/or the facility operator have ensured
that sufficient measures for ensuring the personal safety and the safe detection of
obstacles have been established. This includes the safe detection of situations like
e.g. the vehicle leaving the track or people or obstacles appearing in front of the ve-
hicle. In these cases moving parts (e.g. vehicles) have to be stopped immediately to
rule out material damage and personal injuries.
All persons within the range of influence of an automated facility (e.g. automated
guided vehicle, AGV) have to be instructed about the kind of the application and the
associated risks.
2.2 Improper Use
Any use other than that described in the intended use is not intended and therefore
not permitted.
Götting KG does not accept any liability for damage caused by improper use. The
risks of improper use lie solely with the user.
Safety Instructions
2

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
9
Safety Instructions – Chapter 2
Improper use includes:
The use of the track guidance system in vehicles that are not equipped with
safety devices for personal protection and safe detection of obstacles.
Any departure from the lane or the appearance of a person or an obstacle in the
danger area must be reliably detected at all times and immediate stopping of
moving parts (e.g. vehicles) must be ensured to prevent damage to property or
persons.
2.3 Qualification of the Users
The tasks described in this document require basic knowledge of the mechanics and
electrics as well as knowledge of the associated technical terms. In order to ensure
safe use, these activities must therefore only be carried out by an appropriate spe-
cialist or an instructed person under the supervision of a specialist.
A qualified person is someone who, on the basis of his or her specialist training,
knowledge and experience as well as knowledge of the relevant regulations, is able
to assess the work assigned to him or her, recognize possible dangers and take ap-
propriate safety measures. A qualified person must comply with the relevant tech-
nical regulations.
The personnel intended for the installation, commissioning and configuration of the
track guidance system:
has received a copy of this device description.
is familiar with the functionality of the superordinate system (e.g. an automated
vehicle).
is qualified to perform their tasks and is sufficiently trained to mount and con-
figure the track guidance system, if that is part of their tasks.
is familiar with the commissioning of and the telegram exchange via CAN bus
or Profibus connections.
knows – in case the track guidance system is to be used to position automated
vehicles – the dangers emanating from an Automated Guided Vehicles (AGV)
and is sufficiently trained in handling the vehicle and any necessary safety pre-
cautions to assess the safe working condition of the system.
knows – in the event that other equipment or systems with moving parts are
used – the risks arising from the application and is sufficiently trained in the
handling of the vehicle and any necessary safety precautions to assess the safe
working condition of the system.
2.4 Operating Conditions
Observe the conditions for the installation of the antenna given in the related
documents (s. section 1.1.2 on page 5), especially the specifications for metal
free areas around the antenna and the interference immunity.
Reinforcements close to the surface of the roadway may interfere the antenna
and thus distort the position detection. This also applies to any large metal
pieces (sheets) on the ground, the proximity of any floor reinforcement and
inductive loops, as they are created e.g. by steel building mats. Individual metal
poles have little effect. Those may partially be within the metal-free area of the
guide wire.
For the size of metal-free areas around the antenna please see the appropriate
data-sheets listed in section 1.1.2 on page 5.

Device Description HG G-7335xZB | English, Revision 07 | Date: 10.05.2023
10 Chapter 2 – Safety Instructions
The nominal reading distance between antenna and wire depends on the
antenna type and the wire current. In between antenna and guide wire there
may be no metal. Non-conducting and non-shielding dirt on the roadway as
well as water, oil, tar, earth, fog, snow and ice do not influence the positioning.
Even though dirt does not influence the positioning the antenna should be pro-
tected against dirt and moisture (e.g. spray water from the vehicle‘s wheels) and
cleaned regularly. Otherwise the antenna‘s attrition rate rises.
The antenna has to be fixed to the vehicle so firmly that its position does not
change during normal operation. Otherwise the superordinate system interprets
the position data wrongly and the vehicle might e.g. drive besides the track.
After the mounting interferences should not exceed 500 units. This closely
relates to the quality of the wire signal. This signal has to be significantly higher
than interference signals. The more interference is radiated especially into the
differential antenna, the less accurate the distance output becomes.
Generally interferences should be avoided by keeping sufficient distances to
interference sources and consistent reading distances to the guide wire.
In the selected frequency area there may be no interference signals from
clocked motors etc. This includes interferences transmitted via the metal body
of the vehicle. Since magnetic fields may be transmitted via chassis parts it is
advisable to perform tests when in doubt.
Cables have to be installed with a minimum distance of 150 mm from the
antenna since those cables can interfere with the antenna reception. How
much they interfere depends on the power and the frequency. Again it‘s import-
ant that the interferences are not higher than 500 units.
The system is intended to be used indoors. The operating temperature range is
0 to +50° C.
Relative humidity 95 % @ 25° C (without condensation).
2.5 General Safety Instructions
The track guidance system does not include safety equipment. It may only be
used in applications where the manufacturer and/or the facility operator have
ensured that sufficient measures for safeguarding the personal safety and the
safe detection of obstacles have been established.
The manufacturer and/or the facility operator have to ensure the safe detection
of situations like e.g. the vehicle leaving the track or people or obstacles appear-
ing in front of the vehicle. In these cases moving parts (e.g. vehicles) have to be
stopped immediately to rule out material damage and personal injuries.
When using the track guidance system the operating conditions from section
2.4 on page 9 have to be observed.
Ensure that interferences in the ground or on the vehicle do not induce a higher
signal than 500 units in the antenna. Make sure that the guide wire has a suffi-
ciently higher signal. Otherwise measuring errors may occur.
2.6 Obligations of the Operator
When using the track guidance system, the operator must ensure that
all persons within the sphere of influence of an automated system (e.g. Auto-
mated Guided Vehicle (AGV)) are informed about the type of application and the
associated hazards,
the operating conditions specified in section 2.4 on page 9 are observed,