Gotting HG G-98820ZB User manual

RFID Localization Sensor
HG G-98820ZB/ZC/YC
Position detection and identification | mounting lengthwise/
crosswise | serial | CAN/PROFINET®
English, Revision 12 Date: 14.12.2023 Dev. by: LF Author(s): RAD / TN / LF
Guide Wire
www.goetting-agv.com
Innovation through Guidance
Device Description HG G-98820ZB/ZC/YC

Device Description HG G-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
2Overview
Main Features
•RFID localization sensor for automa-
tion applications (s. section 3.4 on
page 13)
•Direction of travel adjustable cross-
wise or lengthwise depending on
application (s. section 3.3 on page
13)
•Indoor & Outdoor, IP 65
•Mounting side may be mounted
directly on metal
•Reading distance depending on the
transponder type in use 20 to
160 mm
•Max. crossing speed depending on
the mounting direction 4 m/s (cross-
wise) respectively 6 m/s (length-
wise)
•Bus interface depending on variant
CAN/CANopen® or PROFINET®
•PosiPulse when crossing the center
axis in driving direction
•Serial interface serves as service
interface for configuration (also for
updating the localization sensor
software) or data interface (configu-
rable telegram contents)
•Programming of transponders
© 2023 Götting KG, errors and modifications reserved.
Götting KG in D-31275 Lehrte has
a certified quality management system
according to ISO 9001.

Device Description HG G-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
3
Table of Contents
1 About this Document....................................................................................6
1.1 Validity .............................................................................................................................................................6
1.1.1 Target Group............................................................................................................................................6
1.1.2 Other Applicable Documents...........................................................................................................6
1.2 Declaration of Conformity ......................................................................................................................6
1.3 Presentation of Information...................................................................................................................7
1.3.1 Warning Notices.....................................................................................................................................7
1.3.2 Symbols......................................................................................................................................................8
2 Safety Instructions........................................................................................9
2.1 Intended Use.................................................................................................................................................9
2.2 Improper Use................................................................................................................................................9
2.3 User Qualification ....................................................................................................................................10
2.4 General Safety Instructions.................................................................................................................10
2.5 Obligations of the Operator.................................................................................................................11
3 Introduction..................................................................................................12
3.1 Variants.........................................................................................................................................................12
3.2 Functional Description...........................................................................................................................12
3.3 Definitions...................................................................................................................................................13
3.4 Application Examples ............................................................................................................................13
4 Scope of Delivery ........................................................................................15
4.1 Required Accessories ............................................................................................................................15
4.2 Optional Accessories..............................................................................................................................16
5 Storage .........................................................................................................17
6 Mounting.......................................................................................................18
6.1 Mounting the Transponders ...............................................................................................................18
6.1.1 Operating Conditions for Transponders...................................................................................18
6.2 Preparation of Connection Cables ...................................................................................................19
6.2.1 All Variants: Connecting Power....................................................................................................19
6.2.2 Variants HG G-98820ZB/ZC – Connecting the CAN Bus .................................................19
6.2.3 Variant HG G-71915YA – Connecting PROFINET®............................................................20
6.3 All Variants: Mounting the Localization Sensor .........................................................................20
6.3.1 Operating Conditions of the Localization Sensor.................................................................20
6.3.2 Minimum Distance Between Localization Sensor and Transponder..........................21
6.3.3 Minimum Distance Between Identical Localization Sensors .........................................21
6.3.4 Metal-free Areas Around Transponder and Localization Sensor..................................21
6.3.4.1 Smaller Metallic Structures that do not Form a Loop...................................................22
6.3.4.2 Closed Metallic or Electrically Conductive Structures..................................................22
6.3.5 Connection Example.........................................................................................................................23
6.3.6 Mounting the Localization Sensor on the Vehicle ...............................................................23
6.3.7 Localization Sensor Switch-On....................................................................................................24
7 Commissioning ............................................................................................25
7.1 Configuring the Localization Sensor (Service Interface)........................................................25
7.1.1 Set Parameters....................................................................................................................................25
7.1.2 Minimizing Interferences.................................................................................................................26
7.1.2.1 Setting the Positioning Thresholds........................................................................................26
7.1.2.2 Sequence of a Transponder Crossing..................................................................................27
7.2 Complete Commissioning ...................................................................................................................29
8 Interfaces......................................................................................................30
8.1 All Variants: PosiPulse (Positioning Pulse)....................................................................................30
Contents

Device Description HG G-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
4Table of Contents
8.2 All Variants: Serial (RS 232).................................................................................................................31
8.2.1 List of the system data which can be output.........................................................................31
8.2.2 List of commands ...............................................................................................................................32
8.3 Variants HG G-98820ZB/ZC: CAN ....................................................................................................34
8.3.1 Basic CAN...............................................................................................................................................34
8.3.1.1 Description........................................................................................................................................34
8.3.1.2 CAN Message Object 1 (Transmission Object).................................................................34
8.3.1.3 CAN Message Object 2 (Transmission Object).................................................................35
8.3.1.4 CAN Message Object 3 (Transmission Object).................................................................35
8.3.1.5 CAN Message Object 4 (Reception Object).......................................................................35
8.3.2 CANopen® .............................................................................................................................................36
8.3.2.1 Description of the Process Data Objects (PDO)...............................................................36
8.3.2.2 Heartbeat...........................................................................................................................................37
8.3.2.3 Node Guarding ................................................................................................................................37
8.3.2.4 Description of the Service Data Objects (SDOs)..............................................................37
8.3.2.5 Object Directory..............................................................................................................................38
8.3.2.6 EDS Configuration File ................................................................................................................38
8.4 Variant HG G-98820YC: PROFINET®..............................................................................................38
8.4.1 Input Bytes.............................................................................................................................................38
8.4.2 Output Bytes .........................................................................................................................................39
8.4.3 GSDML File............................................................................................................................................40
9 Software .......................................................................................................41
9.1 Connection to a PC..................................................................................................................................41
9.2 Terminal Program....................................................................................................................................41
9.3 System Monitor.........................................................................................................................................43
9.3.1 How to start the monitor program..............................................................................................43
9.3.1.1 Procedure Monitor only (Default) ...........................................................................................43
9.3.1.2 Procedure transparent.................................................................................................................43
9.3.2 How to work with the monitor program...................................................................................44
9.3.2.1 Main menu........................................................................................................................................44
9.3.2.2 (S)erial Output..................................................................................................................................46
9.3.2.3 (T)ime & Code..................................................................................................................................47
9.3.2.4 (F)requency & Antenna Tuning................................................................................................48
9.3.2.5 Basic C(A)N-Parameters .............................................................................................................49
9.3.2.6 CA(N)-Open-Parameters.............................................................................................................50
9.3.2.7 (D)isplay Systemstatus ................................................................................................................51
9.3.2.8 Cs(v) [Code,Sum,Dif,Y,Status,ReadCnt,ErrCnt](abort with <a>)...............................51
9.3.2.9 (Y) display Histogram....................................................................................................................51
9.3.2.10 (W)rite Transponder......................................................................................................................52
9.3.2.11 [L]oad User parameters to EEProm.......................................................................................52
9.3.2.12 [U]pdate Firmware.........................................................................................................................52
9.3.2.13 P(r)int Parameters..........................................................................................................................53
9.3.2.14 (1) Import User Parameter from Host to Localization Sensor / (2) Ex-
port User Parameter from Localization Sensor to Host................................................53
9.3.2.15 (3) Service Menu.............................................................................................................................53
9.3.2.16 R(e)set .................................................................................................................................................53
10 Maintenance.................................................................................................54
11 Disposal ........................................................................................................55
12 Trouble Shooting.........................................................................................56
13 Technical Data .............................................................................................57
14 Annex ............................................................................................................58
14.1 Procedure „transparent“ .......................................................................................................................58
14.1.1 Data Direction Localization Sensor -> PLC .............................................................................58
14.1.2 Data Direction PLC -> Localization Sensor .............................................................................58

Device Description HG G-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
5
Table of Contents
14.2 Overview of the CANopen® Directory...........................................................................................58
14.2.1 Communication specific Entries within the Range of 0x1000 to 0x1FFF................58
14.2.2 Manufacturer specific Entries starting at 0x2000 ...............................................................60
14.2.3 Standardized Device Profile higher than 0x6000 ................................................................60
14.3 Details of the CANopen® Directory.................................................................................................61
14.3.1 Device Type...........................................................................................................................................61
14.3.2 Error Register........................................................................................................................................61
14.3.3 COB-ID SYNC message...................................................................................................................61
14.3.4 Device Name.........................................................................................................................................61
14.3.5 Hardware Version...............................................................................................................................61
14.3.6 Software Version ................................................................................................................................61
14.3.7 Save Parameters.................................................................................................................................62
14.3.8 Restore Default Parameter.............................................................................................................62
14.3.9 Producer Heartbeat Time................................................................................................................62
14.3.10 Identity Object......................................................................................................................................63
14.3.11 Transmit PDO_1 Parameter ..........................................................................................................63
14.3.12 Transmit PDO_2 Parameter ..........................................................................................................63
14.3.13 Mapping TPDO_1...............................................................................................................................64
14.3.14 Mapping TPDO_2...............................................................................................................................64
14.3.15 Device Parameter...............................................................................................................................65
14.3.16 Codes for System Configuration..................................................................................................66
14.3.17 Manufacture Parameter - Node Parameter............................................................................66
14.3.18 8 Bit Digital Input (transmission in TPDO_2) .........................................................................67
14.3.19 16 Bit Status (transmission in TPDO_1)...................................................................................67
14.3.20 32 Bit Transponder Code................................................................................................................67
14.3.21 8 Bit Analog Inputs.............................................................................................................................67
14.3.22 16 Bit Analog Inputs..........................................................................................................................68
14.4 Accuracy of the deviation calculation ............................................................................................68
14.5 Mechanical Drawing with Localization Sensor Dimensions................................................69
15 Document Changelog.................................................................................70
16 List of Figures ..............................................................................................71
17 List of Tables................................................................................................72
18 Index..............................................................................................................74
19 Copyright and Terms of Liability...............................................................76
19.1 Copyright ..................................................................................................................................................... 76
19.2 Exclusion of Liability...............................................................................................................................76
19.3 Trade Marks and Company Names.................................................................................................76

Device Description HG G-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
6Chapter 1 – About this Document
1.1 Validity
This device description applies to the RFID localization sensor HG G-98820ZB/ZC/
YC. It contains information on correct mounting, electrical installation, commission-
ing, operation, maintenance and fault rectification.
This device description refers to devices – depending on the variant – with firmware
98820YC_1.00 / 98820ZC_1.00 / 98820ZB_1.05 or higher (visible in the main menu
as shown in Figure 17 on page 44).
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 localization sensor 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 RFID localization sensor 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
The product HG G-98820ZB/ZC/YC complies with the relevant harmonisation legis-
lation of the European Union. The relevant harmonized European standards and di-
rectives 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.
–Disc Transponder HW DEV00095/HW DEV00098
https://www.goetting-agv.com/components/00095
–Glass Transponder HG G-70633
https://www.goetting-agv.com/components/70633
–Puck Transponder HG G-70652/HG G-70653
https://www.goetting-agv.com/components/70652
https://www.goetting-agv.com/components/70653
–Rod Transponder HG G-71325
https://www.goetting-agv.com/components/71325
1

Device Description HG G-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
7
About this Document – Chapter 1
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/98820
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-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
8Chapter 1 – About this Document
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-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
9
Safety Instructions – Chapter 2
Our product has been designed and manufactured in accordance with the generally
recognized rules of technology. Nevertheless, there is a risk of personal injury and
damage to property if you do not observe this chapter and the safety instructions in
this documentation.
Read this documentation thoroughly and completely before working with the
product.
Ensure that the documentation is kept in such a way that it is accessible to all
users at all times.
Always pass the product on to third-parties together with the relevant
documentation.
2.1 Intended Use
The localization sensor HG G-98820ZB/ZC/YC is designed to calculate the relative
position of matching RFID tags (transponders) and to output it to a higher-level con-
trol system. Either the transponders or the localization sensor must be in a fixed po-
sition. Possible fields of application are listed in section 3.4 „Application Examples“
on page 13.
The localization sensor HG G-98820ZB/ZC/YC may only be used by qualified person-
nel at the place of installation (e.g. vehicle) where it has been installed and commis-
sioned for the first time by qualified personnel in accordance with these operating
instructions. The operating conditions specified in this device description must be
observed.
The localization sensor HG G-98820ZB/ZC/YC does not contain any safety equip-
ment and may therefore only be used in applications where the manufacturer or the
system operator has ensured that sufficient measures are implemented for the pro-
tection of persons and the safe detection of obstacles.
2.2 Improper Use
Any use other than that described in the intended use is not in accordance with the
intended use and is therefore not permitted.
Götting accepts no liability for damage resulting from improper use. The risks asso-
ciated with improper use lie solely with the user.
The improper use of the product includes:
The use of the localization sensor in vehicles that are not equipped with safety
devices for the protection of persons and the safe detection of obstacles.
Leaving the track or the appearance of a person or an obstacle in the danger
area must be safely detected at all times and immediate stopping of moving
parts (e.g. vehicles) must be ensured in order to exclude damage to property or
personal injury.
Safety Instructions
2

Device Description HG G-98820ZB/ZC/YC | English, Revision 12 | Date: 14.12.2023
10 Chapter 2 – Safety Instructions
2.3 User Qualification
The operations described in this document require basic knowledge of mechanics
and electrics as well as knowledge of the associated technical terms. To ensure safe
use, these activities may therefore only be performed by an appropriate specialist or
an instructed person under the direction of a specialist.
A specialist is someone who, on the basis of his technical training, knowledge and
experience as well as his knowledge of the relevant regulations, is able to assess the
work assigned to him, recognize possible hazards and take suitable safety measures.
A specialist must comply with the relevant technical rules.
The personnel designated for the assembly, commissioning and configuration of the
localization sensor
has received this device description.
is familiar with the operation of the higher-level system (e.g. a vehicle).
is competent to perform his activities and is sufficiently trained in the installa-
tion and configuration of the localization sensor, if this is part of their activities.
is – in case the CAN bus interface is to be used – familiar with the commission-
ing of and telegram exchange via CAN bus connections.
is – in case the PROFINET® interface is to be used – familiar with the commis-
sioning of and telegram exchange via PROFINET® connections.
knows – in the event that the localization sensor is to be used for position
detection of automated vehicles – the dangers emanating from an automated
guided vehicle (AGV) and has been sufficiently instructed in the handling of the
vehicle and any necessary safety precautions to assess the safe working condi-
tion of the system.
knows – in case other devices or systems with moving parts are used – the risks
arising from the application and is sufficiently instructed in the safety precau-
tions that may be necessary to assess the safe working condition of the system.
2.4 General Safety Instructions
Ensure that the localization sensor HG G-98820ZB/ZC/YC is used only in appli-
cations,
–where sufficient measures for personal protection and safe detection of
obstacles are implemented and
–where it is reliably detected if the vehicle leaves the track or a person or
obstacle appear in the danger zone at any time and all moving parts (e.g.
vehicles) are immediately stopped.
Ensure that interference does not impair the detection of transponders. Strate-
gies for detecting and avoiding interference can be found in chapter 7 on page
25.
Mount the localization sensor so firmly on the vehicle that its position cannot
change during normal operation. Otherwise, the position data will be incorrectly
evaluated by the higher-level system and the vehicle may drive off track.
Although dirt does not affect the position detection itself, the localization sensor
should be protected from dirt and moisture (e.g. splash water from the wheels
of the vehicle) and cleaned regularly, otherwise wear and tear on the localiza-
tion sensor will increase.