Gotting HG G-84300ZD User manual

Gyroscope
HG G-84300ZD
Gyro for AGV
English, Revision 10 Date: 01.06.2022 Entw. von: LM Autor(en): RAD
Autonomous Vehicles
Innovation through Guidance www.goetting-agv.com
Device Description HG G-84300ZD

Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
2Overview
Summary
Characteristics of the Gyro HG G-84300ZD:
•Output: Angle, 0° – 360°,
resolution 0.01°
•Data rate of measurement output:
1 to 100 Hz
•Maximum spin rate: 300 °/s
•Compact, light weight IP65 casing
•Robust (no moving parts)
•Wide operating temperature range from
-40 to +85° C
•Long lifetime (MTBF > 100,000 h),
maintenance free
•Interfaces: CAN/CANopen® (data) &
USB (service / configuration)
© 2022 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-84300ZD | English, Revision 10 | Date: 01.06.2022
3
Table of Contents
1 About this Document....................................................................................5
1.1 Warning Notices..........................................................................................................................................5
1.2 Symbols...........................................................................................................................................................6
2 Introduction....................................................................................................7
3 Hardware ........................................................................................................8
3.1 Alignment of the Measuring Axis........................................................................................................8
3.2 Dimensions....................................................................................................................................................8
3.3 Mounting ........................................................................................................................................................8
3.4 Pin Assignment............................................................................................................................................9
3.4.1 X1 (PWR/USB).........................................................................................................................................9
3.4.2 X2 (CAN) ....................................................................................................................................................9
3.4.3 X3 (CAN) ....................................................................................................................................................9
3.5 Switch-On Behavior ...............................................................................................................................10
3.6 LEDs...............................................................................................................................................................10
3.7 Error Messages.........................................................................................................................................11
4 Drift Compensation / Angle Reset............................................................12
4.1 Drift Compensation.................................................................................................................................12
4.2 Angle reset..................................................................................................................................................13
5 Configuration via USB ................................................................................14
5.1 USB Interface ............................................................................................................................................14
5.2 Terminal Program....................................................................................................................................15
5.3 Terminal Output In Monitor Mode ...................................................................................................15
5.3.1 Terminal Output for CAN Standard............................................................................................16
5.3.2 Terminal Output for CANopen® ..................................................................................................17
5.4 Logging (CSV)............................................................................................................................................18
5.5 Firmware Update.....................................................................................................................................18
6 CAN Bus Interface.......................................................................................20
6.1 Receiving Box............................................................................................................................................20
6.2 Transmitter Box........................................................................................................................................21
7 CANopen® Interface...................................................................................22
7.1 Description of the Process Data Objects (PDOs) ......................................................................22
7.1.1 Transmission Objects........................................................................................................................22
7.1.2 Reception Object ................................................................................................................................23
7.2 Heartbeat.....................................................................................................................................................23
7.3 Description of the Service Data Objects (SDOs) .......................................................................24
7.4 Object Directory .......................................................................................................................................24
7.4.1 Communication Specific Entries .................................................................................................24
7.4.2 Standardized Device Profile Range............................................................................................26
7.4.3 CANopen® Object Dictionary .......................................................................................................26
7.4.3.1 Device Type......................................................................................................................................26
7.4.3.2 Error Register...................................................................................................................................26
7.4.3.3 COB-ID SYNC message..............................................................................................................27
7.4.3.4 Device Name ...................................................................................................................................27
7.4.3.5 Hardware Version..........................................................................................................................27
7.4.3.6 Software Version ...........................................................................................................................27
7.4.3.7 Producer Heartbeat Time...........................................................................................................27
7.4.3.8 Identity Object.................................................................................................................................27
7.4.3.9 Receive PDO Parameter.............................................................................................................28
7.4.3.10 Mapping RPDO_1..........................................................................................................................28
7.4.3.11 Transmit PDO_1 Parameter .....................................................................................................28
Contents

Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
4Table of Contents
7.4.3.12 Mapping TxPDO_1 ........................................................................................................................29
7.4.3.13 8 Bit Digital Input (transmitted in TxPDO 1) ......................................................................29
7.4.3.14 16 Bit Analog Inputs (transmitted in TxPDO 1)................................................................29
7.4.3.15 32 Bit Analog Inputs (transmitted in TxPDO 1)................................................................29
7.4.3.16 8 Bit Life Counter (transmitted in TxPDO 1)......................................................................30
8 Technical Data .............................................................................................31
9 List of Figures ..............................................................................................32
10 List of Tables................................................................................................33
11 Index..............................................................................................................34
12 Copyright and Terms of Liability...............................................................36
12.1 Copyright......................................................................................................................................................36
12.2 Exclusion of Liability ...............................................................................................................................36
12.3 Trade Marks and Company Names .................................................................................................36

Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
5
About this Document – Chapter 1
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 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:
About this Document
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.
1

Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
6Chapter 1 – About this Document
1.2 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-84300ZD | English, Revision 10 | Date: 01.06.2022
7
Introduction – Chapter 2
The Gyro HG G-84300ZD measures the angle of one rotation axis and permanently
outputs this angle via its interface, CAN/CANopen®. This information can be used
by a superordinate vehicle controller (not part of the scope of supply) to calculate the
current position of all types of vehicles, thus using the Gyro as part of an inertial nav-
igation system.
Figure 1 Photo HG G-84300ZD
The device is based on the latest generation of the MEMS technology. Compared to
other gyroscopes, it offers advantages like cost-performance ratio, low current con-
sumption, excellent robustness and long durability. In addition to the high quality
technology the Gyro offers an integrated Drift Compensation algorithm, that can be
used to further increase the accuracy of the angle measurement (see section 4.1 on
page 12).
Introduction
2

Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
8Chapter 3 – Hardware
3.1 Alignment of the Measuring Axis
Figure 2 Sketch: Measuring axis
3.2 Dimensions
Figure 3 Sketch: Dimensions of the casing (in mm) / Mounting Drill holes
3.3 Mounting
On the front plate of the Gyro two cover plates can be removed. Then two mounting
drill holes can be reached (see picture above). When the gyro is mounted, the cover
plates should be re-attached.
Hardware
3
X
+
-
The angle measurement
for X increases when the
Gyro is rotated counter-
clockwise
Drill hole
Drill hole for M4 mounting screw
for M4
approx. 80
mounting
screw

Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
9
Hardware – Chapter 3
3.4 Pin Assignment
3.4.1 X1 (PWR/USB)
5-pin M12 panel plug (A coded)
3.4.2 X2 (CAN)
5-pin M12 panel plug (A coded)
3.4.3 X3 (CAN)
5-pin M12 panel plug socket (A coded)
There is no terminating resistor (terminator) for the CAN bus in the device!
Table 2 Pin assignment X1 (PWR/USB)
Pin Signal Description
1 +Ub (24V) supply voltage
2 IN1 *) activate drift compensation *)
3 D+ USB
4 D- USB
5 GND supply ground
*) If a high level (24 V) is applied to this input, the Gyro calculates the drift compen-
sation (see section 4.1 on page 12). May only be started when the vehicle is
not moving!
Table 3 Pin assignment X2 (CAN)
Pin Signal Description
1 shield (chassis) ground casing
2 +Ub (24V) supply voltage
3 GND supply ground
4 CAN_H CAN high
5 CAN_L CAN low
Table 4 Pin assignment X3 (CAN)
Pin Signal Description
1 shield (chassis) ground casing
2 +Ub (24V) supply voltage
3 GND supply ground
4 CAN_H CAN high
5 CAN_L CAN low

Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
10 Chapter 3 – Hardware
3.5 Switch-On Behavior
The gyro calibrates itself for 10 s after switching on (applying the supply voltage). It
must not be moved during this time. This also means that a vehicle in which the gyro
is installed must not be moved during this time.
3.6 LEDs
The CAN LED has a different meaning depending on whether the CAN mode is set
to CAN Standard or CANopen® (see section 5.3 on page 15).
WARNING
Uncontrolled drift
If the gyro is moved during the first 10 s after being switched on, the initialization
of the drift compensation that then takes place leads to incorrect values. If a
vehicle is subsequently track guided on the basis of the faulty values,
uncontrolled driving behavior or even leaving the track may occur.
Do not move the gyro during the first 10 s after switch-on.
If an increased drift can be detected or if there is a suspicion that the gyro was
moved within the first 10 s after switch-on:
Perform drift compensation (see chapter 4 on page 12) or
switch the gyro off and on again and do not move it for 10 s.
Table 5 Functions of the LEDs
LED Mode Color / Frequency Meaning
SYS Green / Steady light Normal operation
Red / Blinking Parameter error (s. Table 6)
SENS Green / Blinking Measuring active
Yellow / Flickering Drift compensation active
Green / Flickering Drift compensation completed
CAN CAN
Standard
Green / Steady light Communication OK
Red / Blinking Communication error (s. Table 6)
CANopen® Green / Flashing State: STOP
Green / Blinking State: Preoperational
Green / Steady light State: Operational
Red / Blinking Communication error (s. Table 6)