Gotting HG 73350 Operating and installation instructions

Device Description G_73350ZA
Interpreter For Inductive
Guidance Of Vehicles
— CAN-OPEN —
G_73350ZA
English, Revision 01 Dev. by: W.M.
Date: 14.04.2009 Authors.: RAD / L.S.
Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: [phone] / 80 96 -0,
Fax: [phone] / 80 96 -80, eMail: [email protected], Internet: www.goetting.de

Content G_73350ZA
English, Revision 01, Date: 14.04.2009 2
Content
1 Essential Information for Reading this Manual....................4
2 Introduction.......................................................................5
3 Mounting...........................................................................6
3.1 Casing.................................................................................... 6
3.2 Connecters ............................................................................. 6
3.2.1 Aerial socket of the interpreter ....................................................... 6
3.2.2 CAN bus........................................................................................ 7
3.2.3 Power supply and serial interface................................................... 7
4 Commissioning..................................................................8
5 Hardware ..........................................................................9
5.1 Monitoring .............................................................................. 9
5.2 Presetting............................................................................... 9
5.3 Processing the signal.............................................................. 9
5.4 The Control LED ................................................................... 10
6 Software .........................................................................11
6.1 Monitor program ................................................................... 11
6.1.1 Main menu .................................................................................. 11
6.1.2 Antenna menu ............................................................................. 12
6.1.3 CAN menu................................................................................... 14
6.2 Changing the surrounding ..................................................... 16
6.3 Updating the software ........................................................... 16
7 CAN Interface .................................................................18
7.1 Description of the process data objects (PDOs) ..................... 18
7.1.1 Transmission objects ................................................................... 18
7.1.2 Receiving objects ........................................................................ 19
7.2 Heartbeat ............................................................................. 20
7.3 Writing on service data objects (SDOs) ................................. 20
7.4 Object directory .................................................................... 21
7.4.1 Communication specific entries.................................................... 21
7.4.2 Manufacturer entries.................................................................... 23
7.4.3 Standard device profile ................................................................ 24
7.4.4 CANopen Object Dictionary ......................................................... 25
7.4.4.1 Device Type ........................................................................... 25
7.4.4.2 Error Register ......................................................................... 25
7.4.4.3 COB-ID SYNC message.......................................................... 25

Content G_73350ZA
English, Revision 01, Date: 14.04.2009 3
7.4.4.4 Device Name .......................................................................... 25
7.4.4.5 Hardware Version ................................................................... 26
7.4.4.6 Software Version .................................................................... 26
7.4.4.7 Save Parameter...................................................................... 26
7.4.4.8 Restore Default Parameter...................................................... 26
7.4.4.9 Producer Heartbeat Time ........................................................ 27
7.4.4.10 Identity Object ........................................................................ 27
7.4.4.11 Receive PDO Parameter ......................................................... 27
7.4.4.12 Mapping RPDO_1 ................................................................... 28
7.4.4.13 Transmit PDO_1 Parameter .................................................... 28
7.4.4.14 Transmit PDO_2 Parameter .................................................... 29
7.4.4.15 Mapping TxPDO_1.................................................................. 29
7.4.4.16 Mapping TxPDO_2.................................................................. 30
7.4.4.17 Manufacture Parameter - parameters of the antenna ............... 31
7.4.4.18 Manufacture parameter - calibration of the antenna ................. 32
7.4.4.19 Manufacture parameter - node parameter................................ 33
7.4.4.20 8 Bit Digital Input (transmitted in TxPDO 1) ............................. 34
7.4.4.21 16 Bit Analog Inputs (transmitted in TxPDO 1 und TxPDO 2) ... 34
8 Troubleshooting ..............................................................35
9 Technical data.................................................................36
10 Appendix.........................................................................37
A Block diagram .................................................................................. 37
B Diagrams.......................................................................................... 38
C Electronic Data Sheet (EDS file) ...................................................... 41
11 List of figures ..................................................................42
12 List of tables ...................................................................43
13 Copyright and Terms of Liability ......................................45
13.1 Copyright.............................................................................. 45
13.2 Exclusion of Liability ............................................................. 45
13.3 Trade Marks and Company Names........................................ 45

Essential Information for Reading this Manual G-76341-A
English, Revision 01, Date: 14.04.2009 4
1 Essential Information for Reading this Manual
In documentations of Götting KG the following symbols and assignments were used
at the time of printing this manual:
Security advices have the following symbols, depending on the emphasis and the
degree of exposure:
NOTE!
ATTENTION!
CAUTION!
WARNING!
Continuative information and tips are identified as follows:
Tip!
Program texts and variables are highlighted by using the font ’Courier’.
Whenever input of key combinations is required for the operation of programms,
the corresponding Keys are highlighted (in Götting KG programs it is usually
possible to use small and capitalized characters equally).
Sections, figures and tables are automatically numbered consecutively through-
out the entire document. In addition, each document has an index listed behind
the front page, including pages and - whenever the document has more than 10
pages - following the actual system description a figure and table index in the
back. In certain cases (for long and/or complicated documents) a subject index is
added.
Each document provides a table block with metainformation on the front page,
indicating the system designer, auther, revision and date of issue. In addition, the
information regarding revision and date of issue are included within the footer of
each page, enabling the exact allocation of the information with a date and certain
a system revision.
Online-Version (PDF) and printed manual are generated from the same source.
Due to the consistent use of Adobe FrameMaker for the generation of documenta-
tion, all directory entries (including page numbers and subject index) and cross
references in the PDF file can be clicked on with the mouse and will lead to the
corresponding linked contents.

Introduction G_73350ZA
English, Revision 01, Date: 14.04.2009 5
2 Introduction
The described interpreter allows to connect two tracking antennas to one device.
The interpreter contains two identical channels with an independent setting of the filter
frequency. The output of the data is realized with a CAN bus. A CAN open protocol
(device profile DS 401) is implemented.
The parametrization can be carried out by a terminal programm (e.g. Hyperterm) us-
ing the serial interface or the SDOs of the CAN open protocol.
This documentation was written for hardware version 73350ZA2 and software version
73350A01.14 (or higher).
Components
At the time this manual was printed, the interpreter can be combined with the following
antennas:
-G 19200ZC
-G 19200YC
-G 19210ZA
Technical informations in PDF format about these antennas can be found on our web-
site http://www.goetting.de/en/download/start.html

Mounting G_73350ZA
English, Revision 01, Date: 14.04.2009 6
3 Mounting
3.1 Casing
Figure 1 Casing antenna HG 73350
3.2 Connecters
All connecters are A-coded M12 panel plugs/jacks.
3.2.1 Aerial socket of the interpreter
The antennas and the corresponding 4-pin M12 panel jack are connected with an one-
to-one cable. The two panel jacks are shown in Figure 1, named ANT1 and ANT2. They
are allocated as follows:
It does not matter whether one or two antennas are connected. When using only one
antenna, ANT1 or ANT2 can be chosen. The displaying of CD1/CD2 on the front panel
( see „Postion of the LEDs“ on page 10.) refers to the corresponding antenna input.
The input voltage of ANT1 and ANT2 are processed internally as US1/UD1 or US2/
UD2.
Pin Signal
1+24 V
2GND
3Usum
4Udiff
Table 1 Pin allocation aerial socket
drillhole for mounting

Mounting G_73350ZA
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3.2.2 CAN bus
The CAN bus is connected to the device with two 5-pin M12 connecters male/female
(see „Casing antenna HG 73350“ on page 6.). There they can be found as BUS1 and
BUS2, which are allocated as follows:
The connectors of the inputs BUS1/BUS2 are connected in parallel, i.e. there is no in-
put or output. If the interpreter is installed at the end of the bus line, a CAN terminator
has to be installed. Those terminators can be ordered form different manufacturers
and are availbale for most plugs and jacks. The CAN connecters can also be used as
power supply.
ATTENTION! Do not connect +24V to pin 4 or 5!
3.2.3 Power supply and serial interface
Here a 5-pin M12 panel plug is used, in the figure „Casing antenna HG 73350“ on
page 6 this plug called PWR RS232 has the following pin allocation.
This connection serves the power supply. Additionally the serial interface RS 232 can
be used for parametrization.
Pin Signal
1Nc
2+24 V
3GND
4 CAN_H
5 CAN_L
Table 2 Pin allocation CAN bus
Pin Signal Annotation
1+24 V
2Nc
3TxD Serial V.24 data input
4RxD Serial V.24 data output
5GND
Table 3 Pin allocation of power supply and serial interface

Commissioning G_73350ZA
English, Revision 01, Date: 14.04.2009 8
4 Commissioning
After mounting or changing the antennas, a position calibration is recommended. For
further information please see chapter 6.1.2 on page 12 and chapter 7.4.4.18 on page
32. The position calibration has to be carried out for each antenna individually.
NOTE! Only by processing this positioalibration the interpreter is able to
calculate and display the deviation in mm.
For a position calibration the following things are required:
correct positioning of the antenna. I.e. its position has to be the same as the one
set in the interpreter (see also 6.1.2 on page 12 and 7.4.4.17 on page 31)
a guide wire with a rated current (if possible 10 kHz)
The calibration can be started by using the CAN bus or the serial interface. During this
procedure the antenna has to be moved from left to right in a certain area, being two
times mounting height above the wire (see 7.4.4.18 on page 32 and Figure 5 on page
14).

Hardware G_73350ZA
English, Revision 01, Date: 14.04.2009 9
5 Hardware
The casing of the interpreter is made of plastic. All wires etc. can be connected via
M12 connecters on the front panel.The input signals (two per antenna) are amplified,
filtered with an adjustable band filter (frequency input, see Figure 10 on page 38) and
rectified synchronous. Afterwards the direct current runs through a low-pass filter (see
block diagram, Figure 9 on page 37)
5.1 Monitoring
The function of the antennas is controlled: the horizontal component of the field (sum
antenna) is usually controlled by the threshold bits in the system status as a reference.
The vertical component of the field (difference antenna) equals 0 above the middle of
the wire, but a defective difference channel would always cause a deviation of 0.
That is why both channels are controlled by a DC monitoring. In front of the receiving
inductors, 5V are fed into the circuit, which are passed on from amplifier to amplifier
until reaching the interpreter. If this voltage is applied, the status bits DC1-OK respec-
tively DC2-OK are set.
5.2 Presetting
To run the interpreter under different conditions without having to change the circuit
board, the input signals have been scaled: an incoming amplitude of 1 VPP controls
the the sum channel and the difference channel.
An input amplitude of 1 Vss reaches a full range of 75 % between sum channel and the
difference channel.
The CAN baudrate is preset to 125 kbaud, the node ID to 1. The maximal incoming
signal of all data streams having other frequencies is 5 VPP
.
As the parameters of the device (reading height, wire current) can be altered, it is no
problem that the antennas are having different dimensions or being adjusted different-
ly.
1. The interpreter is preset to a frequency of 10 kHz. The threshold for the calcula-
tion of the distances referring itself to 1000 units is preset on input voltage S1
respectively S2. If the sum voltage lies above this value, the corresponding bit is
set in the system status and the corresponding LED CDx lights up. These pre-
settings can be modified using a terminal (for example Hypertem on a PC) or by
using the SDOs of the CAN open protocol (see Table 12 on page 23).
The two channels of the interpreter have the same presettings.
5.3 Processing the signal
The four voltages of the four channels are checked every 500 µs and are added during
a period of 8 ms. Each 10 ms the CAN open protocol is provided with the measured
values. The sum and difference voltages as well as the scaled distances are put out
by the PDOs. To calculate those distances the quotients are formed (current compen-
sated) .

Hardware G_73350ZA
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The 16x oversampling and the use of a 10bit A/D converter lead to a value range of
the sum voltage of 16384, of the difference voltage of ±8192.
As in this range the DC offsets of the channels have to be compensated, a range of
about 16000 to ±8000 units is usable.
5.4 The Control LED
On the front panel a group of 5 LEDs can be found.
Figure 2 Postion of the LEDs
-The green LED (PWR) presents the power voltage of the device
-The yellow LEDs (CD1, CD2) show the exceeding of the sum voltage and the set
thresholds for channel 1 and 2.
-The green LED (BUS) flashes after turning on the device. It shows the status of the
device:
-Node stop: LED flashes slowly
-Node reset communication and node preoperational: LED flashes fast
-Node operational: LED is lit continously
-The red LED (ERR) starts to flash as soon as a CAN bus error occurs. Additionally
the red flashing LED displays an error in the set of parameters.