Gotting HG G-98810-C User manual

Transponder Antenna
HG G-98810-C
1.5-dimensional positioning and identification outdoor
Innovation through Guidance
English, Revision 08 Date: 28.06.2021 Dev. by: WM/AK Author(s): RAD/MN
Device Description HG G-98810-C
www.goetting-agv.com
Transponder

Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021
2Overview
© 2021 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-98810-C | English, Revision 08 | Date: 28.06.2021
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 ......................................................................................................................... 7
2 Introduction....................................................................................... 8
2.1 Variants .................................................................................................................................... 8
2.2 System Components............................................................................................................9
2.3 Introduction: Positioning with Transponders ............................................................... 9
2.3.1 Position Calculation with Transponders.................................................................... 9
2.3.2 Track Guidance with Transponders ..........................................................................10
2.3.3 Position Determination / Navigation ........................................................................11
2.4 Definitions.............................................................................................................................12
3 Mounting ......................................................................................... 13
3.1 Transponder .........................................................................................................................13
3.2 Transponder Antenna ........................................................................................................13
4 Commissioning ............................................................................... 15
5 Components and Operation ...........................................................19
5.1 Components in the Ground .............................................................................................19
5.1.1 Transponders ...................................................................................................................19
5.1.2 Code Structure ................................................................................................................19
5.2 Transponder Antenna ........................................................................................................19
5.2.1 Connectors .......................................................................................................................20
5.2.1.1 Power.............................................................................................................................20
5.2.1.1.1 Power RS 232 Variant HG G-99810YC ...........................................................20
5.2.1.1.2 Power RS 422 Variant HG G-99810ZC............................................................20
5.2.1.2 CAN Bus ........................................................................................................................20
5.2.2 Turn-On Characteristics ...............................................................................................21
5.2.3 Interfaces ..........................................................................................................................21
5.2.3.1 Serial (RS 232) ............................................................................................................21
5.2.3.1.1 List of the System Data which can be Output..............................................21
5.2.3.1.2 List of Commands..................................................................................................23
5.2.3.2 System Monitor ..........................................................................................................26
5.2.3.3 CAN ................................................................................................................................26
5.2.3.3.1 Description...............................................................................................................26
5.2.3.3.2 CAN Message Object 1 (Transmission Object).............................................26
5.2.3.3.3 CAN Message Object 2 (Transmission Object).............................................27
5.2.3.3.4 CAN Message Object 4 (Reception Object)...................................................27
5.2.3.4 Data Interface CANopen® .......................................................................................27
5.2.3.4.1 Description of the Process Data Objects (PDO)...........................................27
5.2.3.4.2 Heartbeat..................................................................................................................28
5.2.3.4.3 Node Guarding........................................................................................................29
5.2.3.4.4 Description of the Service Data Objects (SDOs)..........................................29
5.2.3.4.5 Object Directory .....................................................................................................29
5.2.3.5 Positioning Pulse........................................................................................................29
5.2.4 Software Download .......................................................................................................29
5.2.5 Connection Cables .........................................................................................................30
6 Software .......................................................................................... 31
6.1 Terminal Program ...............................................................................................................31

Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021
4Table of Contents
6.2 Parameter Presettings.......................................................................................................32
6.3 System Monitor ...................................................................................................................32
6.3.1 How to start the monitor program ............................................................................33
6.3.1.1 Procedure Monitor only............................................................................................33
6.3.1.2 Procedures 3964R/transparent..............................................................................33
6.3.2 How to Work with the Monitor Program .................................................................34
6.3.2.1 Main menu....................................................................................................................34
6.3.2.2 (S)erial Output .............................................................................................................36
6.3.2.3 (T)ime & Code..............................................................................................................37
6.3.2.4 (F)requency & Antenna Tuning ..............................................................................39
6.3.2.5 C(A)N-Parameters ......................................................................................................40
6.3.2.6 CANopen® ....................................................................................................................41
6.3.2.7 (D)isplay Systemstatus .............................................................................................42
6.3.2.8 Cs(v)................................................................................................................................42
6.3.2.9 Display (Y)Histogram.................................................................................................43
6.3.2.10 (L)oad User parameters to EEProm ......................................................................43
6.3.2.11 (U)pdate Firmware .....................................................................................................43
6.3.2.12 Import (1) / export (2) User Parameter ................................................................44
6.3.2.13 P(r)int Parameters ......................................................................................................44
6.4 Software Update (Antenna Software) ..........................................................................44
6.4.1 Installation of the Program for Software Update .................................................44
6.4.2 Software Update .............................................................................................................45
7 Maintenance ....................................................................................46
8 Trouble Shooting.............................................................................47
9 Technical Data.................................................................................48
10 Appendix ..........................................................................................49
10.1 Procedure 3964R ................................................................................................................49
10.1.1 Data Direction Antenna –> PLC .................................................................................49
10.1.2 Data Direction PLC –> Antenna .................................................................................49
10.2 Procedure „transparent“ ...................................................................................................50
10.3 Data direction antenna -> PLC........................................................................................50
10.3.1 Data direction PLC -> antenna ...................................................................................50
10.4 Overview of the CANopen® directory ..........................................................................50
10.4.1 Communication specific Entries within the Range of 0x1000 to
0x1FFF ...............................................................................................................................51
10.4.2 Manufacturer specific Entries starting at 0x2000 ................................................52
10.4.3 Standardized Device Profile higher than 0x6000 .................................................52
10.5 Details of the CANopen® directory ...............................................................................53
10.5.1 Device Type ......................................................................................................................53
10.5.2 Error Register...................................................................................................................53
10.5.3 COB-ID SYNC message ................................................................................................53
10.5.4 Device Name ....................................................................................................................54
10.5.5 Hardware Version ...........................................................................................................54
10.5.6 Software Version ............................................................................................................54
10.5.7 Save Parameters.............................................................................................................54
10.5.8 Restore Default Parameter ..........................................................................................54
10.5.9 Producer Heartbeat Time .............................................................................................55
10.5.10 Identity Object .................................................................................................................55
10.5.11 Transmit PDO_1 Parameter ........................................................................................55
10.5.12 Transmit PDO_2 Parameter ........................................................................................56
10.5.13 Mapping TPDO_1 ...........................................................................................................56
10.5.14 Mapping TPDO_2 ...........................................................................................................57
10.5.15 Device Parameter ...........................................................................................................58
10.5.16 Codes for System Configuration................................................................................59
10.5.17 Manufacture Parameter – Node Parameter ...........................................................59
10.5.18 8 Bit Digital Input (Transmission in TPDO_2) ........................................................60
10.5.19 16 Bit Status (Transmission in TPDO_1) .................................................................60

Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021
5
Table of Contents
10.5.20 32 Bit Transponder Code .............................................................................................60
10.5.21 8 Bit Analog Inputs ........................................................................................................60
10.5.22 16 Bit Analog Inputs ......................................................................................................60
10.6 EDS Configuration File......................................................................................................61
10.7 Accuracy of the deviation calculation ..........................................................................61
10.8 Mechanical Drawing with Antenna Dimensions .......................................................63
11 List of Figures .................................................................................64
12 List of Tables................................................................................... 65
13 Index ................................................................................................ 67
14 Copyright and Terms of Liability ................................................... 69
14.1 Copyright ...............................................................................................................................69
14.2 Exclusion of Liability..........................................................................................................69
14.3 Trade Marks and Company Names ...............................................................................69

Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021
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-98810-C | English, Revision 08 | Date: 28.06.2021
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.
1.4 Abbreviations
AGV Automated Guided Vehicle
RFID Radio-Frequency Identification
EDS Electronic Data Sheet, configuration file for CAN bus systems

Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021
8Chapter 2 – Introduction
2Introduction
The transponder antenna is designed to be used for the positioning with and evalu-
ation of passive transponders (RFID). This information can be used by superordinate
navigation systems (e.g. the Götting navigation controller HG G-73650). Those sys-
tems can then guide Automated Guided Vehicles (AGV) contact-free. All important
parameter settings, calibrations and updates are carried out via an integrated serial
interface or CANopen®.
Figure 1 Examples of automated vehicles using transponder systems
The antenna HG G-98810-C is a so-called 1.5 dimensional, meaning that it outputs
the Transponder code as well as the linear deviation rectangular to the direction of
travel as well as the information Before transponder, Crossing of the transponder (Po-
siPulse) and Behind transponder.
This system description refers to Transponder Positioning Antenna HG G-98810-C
with the firmware 98810C11.004 or higher (also refer to Figure 16 on page 34).
2.1 Variants
The serial signal is made available via potentially separated RS 422 or RS 232 inter-
faces. In addition, the positioning pulse is galvanically insulated. Furthermore a CAN
Bus interface, galvanically insulated as well, is included. The variants shown in Table
2below are available, they can be distinguished by the second to last character of
the product number, e.g. HG G-98810ZC.
Table 2 Variants overview
Variant Interfaces
HG G-98810ZC RS 422, CAN
HG G-98810YC RS 232, CAN

Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021
9
Introduction – Chapter 2
2.2 System Components
The 1.5-dimensional Positioning and Identification System using the antenna HG G-
98810-C consists of up to four different components:
Figure 2 System components
1. Transmitter-receiver antenna HG G-98810-C incl. interpreter
(also refer to section 5.2 on page 19)
2. Transponder (within the track; refer to section 5.1.1 on page 19)
–HW DEV00095/HW DEV00098 or
–HG G-71325XA
3. Connection cables
(not in this picture; refer to section 5.2.5 on page 30)
4. Optional transponder programmer HG G-81840ZA
(not in this picture; refer to separate data sheet)
2.3 Introduction: Positioning with Transponders
The positioning with transponders is based on the fact that the transponder antenna
can detect a transponder at the nominal reading distance and calculate its position
in the antenna field. Usually the transponders are installed at fixed positions on the
ground and the antenna moves above them, e.g. when it is mounted underneath a
vehicle that drives along the track. Alternatively the antenna may be installed at a
fixed position and the transponder is moved relatively to it, e.g. by a robot‘s arm or
on a monorail. In this description we refer to the application with AGVs with tran-
sponders on or within the roadway.
2.3.1 Position Calculation with Transponders
The functional principle behind the transponder positioning is that the antenna per-
manently sends out an energy field with its transmission frequency onto the area un-
derneath its reading side. The transponders are passive and don‘t need an internal
power supply. As soon as the antenna moves over a transponder the transponder is
supplied with energy inductively. It automatically awakes and uses the transmitted
energy to send back its code at half the antenna‘s frequency. This means that only
certain transponders and antennas can work together that use matching frequen-
cies. Furthermore there are different systems for the transmission and decoding of
the code.




Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021
10 Chapter 2 – Introduction
Figure 3 Sketch: 1.5-dimensional Positioning with transponders (no X deviation calculation)
As soon as a transponder starts sending inside the antenna field the antenna reads
the transponder‘s individual code and interpolates the position of the transponder‘s
electro-magnetic field inside the antenna field. The antenna forwards this informa-
tion to the superordinate vehicle control via its interfaces. Thus the vehicle knows at
which point underneath the antenna the transponder is (Y deviation). Additionally
the antenna outputs the information Before transponder, Crossing of the transponder
in direction of travel (PosiPulse) and Behind transponder.
2.3.2 Track Guidance with Transponders
Driverless vehicles (AGV) follow a pre-defined course. The vehicles usually are
equipped with sensors for the position estimation via distance measurement, a so-
called odometry1. Incremental encoders count the revolutions of the wheels. A su-
perordinate control unit then calculates the traveled distance and the orientation of
the vehicle by taking into account the circumference of the wheels and the steering
angle. The odometry has the advantage that it is available nonstop. However the po-
sition accuracy calculated by the odometry deteriorates the further the vehicle trav-
els, e.g. because of slippage.
At this point the transponder system comes into operation. The transponders in the
ground are placed at exactly measured positions and are used punctual to deter-
mine the exact position of the vehicle. The superordinate navigation system or the
navigation controller (both not part of the scope of supply of the transponder anten-
na) resets its estimated position at these points to the exact position.
Figure 4 Sketch: Track guidance with odometry and transponders
1. Odometry (from old greek όδός hodós „route“ and μέτρον métron „measure“ — thus „distance
measurement“) refers to a method to estimate the position and orientation of a mobile system
on the basis of its drive system.
1
3
2
Transponder
Transponder
Lcal coordinate system
Antenna
Ground
X
Vehicle
Direction of travel
Antenna
SIDE VIEW
Y
X3
X2
X1
Y2Y1Y3
Transponder
midpoint
ΔY
Transponder
Antenna
TOP VIEW
Center axis
PosiPulse
Before Transp.
Behind Transp.
Transponder-Antenna
Transponder
Navigation point
Virtual track
Wheels with incremental encoders
Bogie Pivot point
Steering angle (from navigation controller)
Offset antenna midpoint <—> Navigation point in X and Y direction
Deviation odometry
to actual position
Vehicle
Direction of travel (X direction)