Gotting HG G-71450-A User manual

Photo: Variant
HG G-71455ZA
Transponder-Antenna
HG G-71450/1/3/5-A
PosiPulse & Transponder-Code
Variants HG G-71450-A (RS232) / HG G-71451-A (Profibus) /
HG G-71453-A (CANopen®) / HG G-71455-A (Profinet)
English, Revision 02 Date: 06.06.2019 Dev. by: WM/LF Author(s): RAD/WM/LF/RF
Device Description HG G-71450/1/3/5-A
Transponder
Innovation through Guidance www.goetting-agv.com

Device Description HG G-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
2Overview
Summary
Characteristics of the transponder antenna HG G-71450/1/3/5-A:
•Transponder-Antenna for the posi-
tioning of automated guided vehi-
cles (AGV)
•Indoor, IP 65
•Reading distance 50 mm
•max. crossing speed (depending on
variant and the functionality in use)
1.0 to 2.0 m/s
•Voltage supply (depending on the
variant) 22 - 28 VDC or 18 - 36 VDC,
current consumption typically
130 mA @ 24 VDC
•Operating frequency (depending on
the variant): 409 kHz, 125 kHz or
KATE 125 kHz
•Posipulse when crossing the center
axis in direction of travel, 24 V
20 mA current source
•Connectors (depending on the vari-
ant): Up to 3x M12
•Data interface (depending on the
variant): RS 232 (serial), Profibus,
CANopen®, Profinet (with inte-
grated switch)
•Service interface for configuration
and firmware update (depending on
the variant): serial RS 232 or USB
with USB virtual serial port driver
•Display operational state (depending
on the variant): Up to 5 LEDs
•Transponder programming
© 2019 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-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
3
Table of Contents
Contents
1 About this Document........................................................................ 6
1.1 Warning Notices.................................................................................................................... 6
1.2 Symbols ................................................................................................................................... 7
1.3 Definitions of Terms............................................................................................................. 7
1.4 Abbreviations ......................................................................................................................... 8
2 Introduction....................................................................................... 9
2.1 Variants .................................................................................................................................... 9
2.2 Additional Products ............................................................................................................10
2.3 Additional Documents....................................................................................................... 11
2.4 Operating conditions .........................................................................................................11
2.5 Application Examples for the Automation .................................................................. 12
2.6 System Layout ..................................................................................................................... 12
2.7 Functional Description ......................................................................................................12
2.7.1 General Functional Description.................................................................................. 12
2.7.2 Scope and Function .......................................................................................................13
2.7.3 Signals and Timing......................................................................................................... 15
3 Hardware ......................................................................................... 16
3.1 Transponder .........................................................................................................................16
3.2 Transponder Antenna (Variants) .................................................................................... 16
3.2.1 Applies to all variants .................................................................................................... 16
3.2.1.1 Switch-on Behavior ...................................................................................................16
3.2.1.2 Code Output ................................................................................................................16
3.2.1.3 PosiPulse ......................................................................................................................16
3.2.2 Transponder Antenna HG G-71450 (RS 232) ........................................................ 17
3.2.2.1 Pin assignments .........................................................................................................17
3.2.2.2 LEDs ...............................................................................................................................18
3.2.2.3 Switch-on Behavior ...................................................................................................18
3.2.2.4 Code Output ................................................................................................................18
3.2.2.5 RS 232-Interface ........................................................................................................18
3.2.2.6 Serial/parallel Interface HG G-06150Y (optional).............................................18
3.2.3 Transponder Antenna HG G-71451-A (Profibus) .................................................. 18
3.2.3.1 Pin Assignments.........................................................................................................19
3.2.3.2 LEDs ...............................................................................................................................19
3.2.3.3 Switch-on Behaviour.................................................................................................20
3.2.3.4 Profibus-Interface ......................................................................................................20
3.2.3.5 RS 232-Interface ........................................................................................................20
3.2.4 Transponder Antenna HG G-71453-A (CANopen®).............................................20
3.2.4.1 Pin Assignments.........................................................................................................20
3.2.4.2 LEDs ...............................................................................................................................21
3.2.4.3 Data Interface CANopen® ....................................................................................... 21
3.2.4.4 RS 232-Interface ........................................................................................................21
3.2.4.5 PosiPulse Filter ...........................................................................................................21
3.2.5 Transponder Antenna HG G-71455-A (Profinet)...................................................22
3.2.5.1 Pin Assignments.........................................................................................................22
3.2.5.2 LEDs ...............................................................................................................................23
3.2.5.3 Data Interface Profinet ............................................................................................. 23
3.2.5.4 USB Interface .............................................................................................................. 23
4 Installation and Commissioning .................................................... 24
4.1 Testing Transponder ..........................................................................................................24
4.2 Installing Transponder ....................................................................................................... 24

Device Description HG G-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
4Table of Contents
4.3 Transponder Antenna ........................................................................................................24
4.3.1 Mounting Holes ...............................................................................................................25
4.3.2 Connection Cable ...........................................................................................................25
4.4 Interface HG 06150Y (optional for HG G-71450) ......................................................26
4.5 Commissioning ....................................................................................................................27
5 Interfaces: RS 232/serial (HG G-71450) ........................................28
5.1 Interface Parameter RS 232 ............................................................................................28
5.2 Telegram Setup ASCII Coding (SW5 = ON) ................................................................29
5.3 Telegram Setup of Binary Coding (SW5 = OFF) ........................................................30
5.4 Resetting the Antenna.......................................................................................................30
5.5 Transponder Programming ..............................................................................................30
5.6 Serial/parallel interface HG G-06150Y (optional)......................................................31
6 Interfaces: Profibus (HG G-71451).................................................32
6.1 Profibus Address (Hex Rotary Switch) .........................................................................32
6.2 Profibus Configurations ....................................................................................................32
6.3 Status and Command Bits ...............................................................................................33
6.4 Transponder Programming ..............................................................................................33
6.5 GSD File .................................................................................................................................34
7 Interfaces: CANopen® (HG G-71453) ............................................35
7.1 Definitions CAN and CANopen® ....................................................................................35
7.2 Node ID ..................................................................................................................................37
7.3 Default Values ......................................................................................................................37
7.4 Description of the Transmission Process Data Objects (TPDO) ...........................37
7.5 Description of the Receiving Process Data Objects (RPDO) .................................38
7.6 Heartbeat ...............................................................................................................................38
7.7 Description of the Service Data Objects (SDOs) .......................................................39
7.8 Object Directory ..................................................................................................................39
7.9 Manufacture Parameters - Node parameters.............................................................45
7.10 Transponder Programming ..............................................................................................46
7.11 EDS File..................................................................................................................................46
8 Interfaces: Profinet (HG G-71455) .................................................47
8.1 Input Bytes ............................................................................................................................47
8.2 Output Bytes.........................................................................................................................47
8.3 Status bits .............................................................................................................................48
8.4 Instruction bits .....................................................................................................................48
8.5 Transponder Programming ..............................................................................................48
8.6 GSDML File ...........................................................................................................................48
9 Software / Configuration ................................................................49
9.1 Connection to a PC.............................................................................................................49
9.1.1 Via the serial interface (HG G-71450 / HG G-71451 / HG G-
71453) ................................................................................................................................49
9.1.2 Via the USB interface (HG G-71455) ........................................................................50
9.2 Terminal Program ...............................................................................................................51
9.3 Logging (CSV Output)........................................................................................................51
9.4 Monitor Program (Service) ...............................................................................................52
9.4.1 Main Menu Monitor Program HG G-71450.............................................................53
9.4.2 Main Menu Monitor Program HG G-71451.............................................................53
9.4.3 Monitor Program HG G-71453 ...................................................................................54
9.4.3.1 Main menu....................................................................................................................54
9.4.3.2 (P)osi Filter ...................................................................................................................54
9.4.3.3 CAN Menu.....................................................................................................................55
9.4.4 Main Menu Monitor Program HG G-71455.............................................................56
9.5 Update of the Operating Software (Firmware) ..........................................................57
9.5.1 About the RS 232 interface (HG G-71450 / HG G-71451 / HG
G-71453) ...........................................................................................................................57
9.5.2 Via the USB Interface (HG G-71455) ........................................................................58
10 Transponder Programming ............................................................61

Device Description HG G-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
5
Table of Contents
10.1 Positioning of the Transponders using HG G-71325 as an example .................. 61
10.2 Programming via the Monitor Program ....................................................................... 62
10.3 Programming via Interface Telegrams ......................................................................... 62
10.3.1 HG G-71450: Programming via Serial Telegrams ................................................ 62
10.3.1.1 Structure of the Telegram (Host -> Antenna).................................................... 63
10.3.1.2 Structure of the Telegram (Antenna -> Host / if Transponder is
not programmed) .......................................................................................................64
10.3.2 HG G-71451: Programming via Profibus Telegrams ........................................... 64
10.3.3 HG G-71453: Programming via CANopen® Telegrams ...................................... 64
10.3.4 HG G-71455: Programming via Profinet Telegrams ............................................ 64
11 Maintenance.................................................................................... 66
12 Troubleshooting .............................................................................. 67
13 Technical Data ................................................................................ 69
13.1 Transponder Antenna ........................................................................................................69
13.2 Parallel Converter ...............................................................................................................70
14 List of Figures ................................................................................. 71
15 List of Tables................................................................................... 72
16 Index ................................................................................................ 74
17 Copyright and Terms of Liability ................................................... 76
17.1 Copyright ...............................................................................................................................76
17.2 Exclusion of Liability .......................................................................................................... 76
17.3 Trade Marks and Company Names ............................................................................... 76

Device Description HG G-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
6Chapter 1 – About this Document
1About this Document
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:
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-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
7
About this Document – Chapter 1
1.2 Symbols
In this device description the following symbols and formatting are used:
If this information is ignored,
the product may not be operated in an optimal way.
Indicates one or more links to the Internet.
–www.goetting.de/xxx
–www.goetting.de/yyy
Indicates tips for easier
operation of the product.
The check mark lists a requirement.
The arrow shows an action step.
The indentation shows the result of an action or an action sequence.
Program texts and variables are indicated through the use of a fixed width
font.
Menu items and parameters are shown in cursive characters.
Whenever the pressing of letter keys is required for program entries, the
required etter eys are indicated as such (for most programs by Götting
small and capital letters are equally working).
1.3 Definitions of Terms
Transponder
RFID Tag (mark) in/on the ground or mounted on moving parts, which is inductively
supplied with energy by the antenna and then with this energy sends his code at half
the frequency.
Posipulse
Also called middle signal, short for position impulse. With the position impulse the
time of crossing the reference axis can be transmitted by telegrams without time lag.
Energy coil
Coil whose generated alternating magnetic field supplies the transponder with en-
ergy. For some antennas, the code emitted by the transponder is also received via
this coil.
Nibble
A nibble (rarely called nybble or nyble) is a amount of data containing four bits; it is
also called a half byte (source: Wikipedia). The transponder code comprises 16 bits,
i.e. four nibbles. Thus four hexadecimal code digits can be represented.

Device Description HG G-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
8Chapter 1 – About this Document
1.4 Abbreviations
AGV Automated Guided Vehicle
RFID Radio-Frequency Identification
EDS Electronic Data Sheet, configuration file for CAN bus systems
GSD General Station Description, device master data for Profibus and
Profinet devices

Device Description HG G-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
9
Introduction – Chapter 2
2Introduction
Data transmission between various objects (tool carriers, tools, vehicles, etc.) and
the control system is crucial for ensuring the operating procedure. Movable objects
must be identified and positioned quickly and reliably. Thereby identification sys-
tems offer a safe, easy to install and economical solution. They can be used to man-
age and monitor processes.
Such a system is suitable for almost all areas in which production and transportation
processes need to be automated. In order to implement this automation, incoming
data on transport route and destination, location and production status must be col-
lected and processed. Special advantages of the inductive identification system are
the millimeter-precise positioning, long rage identification and insensitivity to con-
tamination.
2.1 Variants
The transponder antenna is available in several versions.
Table 2 Variant overview
Features
Order-No.
HG G-71450 HG G-71451 HG G-71453 HG G-71455
ZA YA XA ZA YA ZA YA ZA YA
Operating frequency
[kHz]
409 125 125
KATE
409 125 409 125 409 125
max. crossing speed
code output only 2,0 m/s 1,5 m/s 2,0 m/s 1,5 m/s 2,0 m/s 1,5 m/s 2,0 m/s
max. crossing speed
code & PosiPulse 1,5 m/s 1,0 m/s 1,5 m/s 1,0 m/s 1,5 m/s 1,0 m/s 2,0 m/s
PosiPulse exit    
Data interface RS 232 (serial) Profibus CANopen® Profinet
Data output Code Code & PosiPuls Code & PosiPuls Code & PosiPuls
Config port RS 232 RS 232 RS 232 USB
Logging (CSV)    
Supply 22 to 28 VDC 18 to 36 VDC
Temporary deactiva-
tion of antennas  (via CAN)
PosiPulse delete com-
mand v. data interface    
Transponder
programming    
Firmware version 2.14 1.13 1.13 1.01

Device Description HG G-71450/1/3/5-A | English, Revision 02 | Date: 06.06.2019
10 Chapter 2 – Introduction
2.2 Additional Products
The following products of Götting can be used with the transponder antenna (note
variants). Rod transponders are usually installed in the ground, disc transponders
usually on the ground. The rod transponders listed below have a slightly higher
transmission power than the disc transponders.
Table 3 Additional products (part 1 of 2)
Order-No. Description
Compatible with transponder antenna
HG G-71450 HG G-71451 HG G-71453 HG G-71455
ZA YA XA ZA YA ZA YA ZA YA
HW CAB00001
Plug ST1: cable PUR,
5 m with M12 elbow
socket, 5-pol., A-coded

HW CAB00002
Plug ST2: cable Profi-
bus PUR, 5m, M12 5-
pol. plug straight, B-
coded, open end
 
HW CON00003
Plug ST2: alternatively
Profibus terminating
resistor
 
HW CAB00003
Plug ST3: cable PUR
Profibus, 5m, M12 5-
pol. socket straight, B-
coded, open end
 
HW CON00055
Plug ST2: CAN termi-
nating resistor (Termi-
nator), M12 Plug 5-pol.,
A-coded
 
HW CAB00064
Plug ST3: cable CAN-
Bus, 10 m, with shield-
ing, M12 socket 5-pol.
straight, A-coded, open
end
 
HG G-71325YA Transponder (rod)
409 kHz    
HG G-71325ZA Transponder (rod)
125 kHz    
HW DEV00033 Transponder (disc)
125 kHz    
HW DEV00034
Transponder (disc)
125 kHz, pre-pro-
grammed
   
HW DEV00127 Transponder KATE
(disc) 125 kHz 
HW DEV00128
Transponder KATE
(disc) 125 kHz, pre-pro-
grammed

HW DEV00130X Transponder (flat disc)
125 kHz 