Gotting HG 98860ZA Technical Description

34 Further menus are activated via input of the (characters in brackets). Before altered values are transferred into the permanent memory, the pass word 815 has to be en- tered by first entering . This prevents unwanted alterations of values. With  the val- ues are saved after alteration and input of the password. Input of  enables reading the description of a possibly occurring system status mes- sage. If the procedure is „transparent or „3964r“ input of  will exit this menu. The following section describes the submenus - ()erial Output (section 5.3.2.2 on page 35) - ()ime & code (section 5.3.2.3 on page 37) - ()requency & Antenna tuning (section 5.3.2.4 on page 38) - Basic C()N Parameters (section 5.3.2.5 on page 39) - CA()-Open-Parameters. This interface is part of another documentation. Frx [Hz] and Ftx [Hz] Display of important system frequencies for transmission and reception. These frequencies are permanently monitored and are included in the system status word E (see below) CSEL Determins from which channel the code is detected U [mV] Supply voltage of the processor board measured with an accu- racy of 100 mV. This voltage is, due to various safety measures, always a little lower than the connected overall supply voltage I [mA] Current consumption of the positioning unit measured with an accuracy of 10 mA T [Grd.C] Average temperature measured in steps of 5o C S_MA Hexadecimal system status from master. The description of the individual bits is included in Table 4 „List of the system com- mands“ on page 22 S_SL Hexadecimal system status from slave. Noise Output of one counter: - Whenever the sum voltage S exceeds the Threshold for Decoding the counter is increase every 8 ms until it has reached the value 1.000. - Whenever S falls under this threshold, the counter counts backwards until it has reached 0 again. When a code is decoded, the counter is immediately set to 0. This mechanism checks whether a Transponder or a foreign sig- nal is received. Every time this counter exceed an adjustable value (refer to section 5.3.2.3 „(T)ime & Code“ on page 37), the system status bit RX_NOISE is set. Description of the system variables Table 12 Description of system variables (monitor program) (part 2 of 2)

35 - Cs() (section 5.3.2.6 on page 40) - display Histogram (/) (section 5.3.2.7 on page 41) - display Histogram (/) (section 5.3.2.8 on page 42) - ()oad Userparameters to EEProm (section 5.3.2.9 on page 43) - () Import / () Export User Parameter (section 5.3.2.11 on page 43) and - ()pdate Firmware (section 5.3.2.10 on page 43) and - P()int Parameters (section 5.3.2.12 on page 43). 5.3.2.2 (S)erial Output Any changes effected to this sub menu are activated only after a system reset (switch- ing the antenna off and on again). Depending on the alterations made, it may become necessary to use a different baud rate / different text document for the startup of the monitor (section 5.3.1 on page 31). Figure 18 Menu: (S)erial Output Pressing  switches between 19200 and 38400 Bd. Pressing  selects between high byte first and high byte last. When using this system together with a Siemens PLC it is essential, that this parameter is 0 (High Byte first).  enables influencing the structure of the output telegram. The telegram length is set automatically. According to the values given in Table 2 „Data words in a telegram with 21 byte length“ on page 19, it is possible to set the customized contents of the telegram  using hexadecimal addition. The parameter sequence cannot be influenced. It is always the same sequence as shown in the table! S:0007 D:-007 D_Y:+32767 Code: 00000000 Read: 0: N: 1 Frx[/Hz]:66760 Ftx[/Hz]:127990 Csel:1 U[/mV]:23100 I[/mA]: 530 T[Grd.C]:+24 E: 0002 Noise 0 (B)audrate: 19200 (O)rder of Data Transfer (0= HiByte first): 0 (T)elegram Content Mask [0..1FFF]: 00001fff (D)isplay Telegram Content (C)har-Delaytime [1..220ms]: 220 (P)rocedure Transparent Co(n)tinous Telegrams 1 (S)erial Data Period [4.500mS]: 8 (F)reeze Values for n Telegrams:[0..10]: 0 (Q)uit Menue

36 Example Only the Displacements X and Y, the Code and the System Status are to be output. Add, according to the table the values 0x0000.0001, 0x0000.0002, 0x0000.0004, 0x0000.0008 and 0x0000.1000. The result is 0x0000.100F. Therefore the input for the “()elegram Content Mask“ is 0x100F. Using “()isplay Telegram Content“ it is possible to check the review telegram (also refer to Figure 19). The shown case has a mask value of 0x0000.1fff. Pressing any key generates the return to menu Serial Output. Figure 19 Menu: „(D)isplay Telegram Content“ Parameter „()har Delaytime“ is the so-called Character Delay Time for procedure 3964R (refer to appendix, section A „Procedure 3964R“ on page 50) and the timeout time for incoming characters transparent mode (refer to appendix, section B „Proce- dure „transparent““ on page 51). Pressing  generates the selection of the corresponding telegram procedure — 3964R or transparent. For procedure 3964R it is also possible to set the acknowledgement delay time.  enables choosing between the permanent output according to the set erial Data Period (1), or output only whenever a Transponder is decoded within the read- ing range (0).  enables ’freezing’ the serial output for 0 to 10 telegrams, i. e. the values at the time of the positioning pulse output are preserved. S:0005 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1 Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1 U[/mV]:24200 I[/mA]: 340 T[Grd.C]:+19 S_MA: 8000 S_SL: 0000 Noise 0 STX 1 Bytes from Position: 1 Delta_Y 2 Bytes from Position: 2 Delta_X 2 Bytes from Position: 4 CODE 2 Bytes from Position: 6 Usum 2 Bytes from Position: 8 Udif 2 Bytes from Position: 10 Vcc 1 Bytes from Position: 12 Current 1 Bytes from Position: 13 Temp. 1 Bytes from Position: 14 CodesRd 1 Bytes from Position: 15 Rx-Freq 2 Bytes from Position: 16 Tx-Freq 2 Bytes from Position: 18 STATUS 2 Bytes from Position: 20 (esc) to quit

37 5.3.2.3 (T)ime & Code This menu offers the option setting the values for the Transponder decoding, the posi- tion calculation and the positioning pulse. Figure 20 Menu: (T)ime & Code  enables setting the threshold for generating the bit RX_NOISE of the system status word as described in Table 12 on page 33 under ’Noise’. As the Trovan technology secures the code transmission only via a simple parity check, two additional security strategies were implemented: 1. It is possible to verify the four highest bits via a preset value (0-F).  enables setting this value, which then has to be programmed into the transponders together with the code. For entries larger F, this verification is switched off. 2. It is possible to choose the number of codes to be compared between 0 and 15 by pressing . Input of 0 generates the immediate output of the received code, input of 1 generates the comparison of the received code with the very last code received just before this one, etc. Note, that this procedure reduces the maxi- mum crossing speed, because the necessary transmission time increases accordingly with (n+1) x 8 ms. With  it is possible to determine the voltage threshold S at which the decoding is started, in order to suppress decoding cycles with a too weak signal, and the X-posi- tion calculation generated. With  it is possible to determine the voltage threshold S at which the Y-position cal- culation is generated.  releases the output of a positioning pulse only after the decoding of a Transponder. In an interference laden environment this will avoid false positioning pulses. For high speed crossing this item should be set to 0. S:0006 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1 Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1 U[/mV]:24200 I[/mA]: 350 T[Grd.C]:+19 S_MA: 8002 S_SL: 0000 Noise 0 (B)Level to Noise Error [0..1000]: 1000 (H)igh-Nibble of RW-Code [0..F,>F]: 10 (N)umber of equal Codes [0..15]: 1 (T)hreshold Decoding-X/Calculation [20.1023]: 256 Thr(e)shold /Calculation-Y [20.1023]: 400 PosiPulse (a)fter Decoding 1 (L)evel for Positioning [20.1023]: 500 (P)osi-Pulse Time [n*1ms]: 100 (O)ne Positioning Pulse per Crossing 0 (X) Timed Positioning Pulse 1 Th(r)eshold MAX-Detection-X [10.1023]: 400 Thre(s)hold MAX-Detection-Y [10.1023]: 400 (esc)to quit

38  enables setting the voltage value S which is the threshold for releasing the position- ing pulse output in order eliminate false statements due to antenna side lopes. The duration of the positioning pulse is adjustable by pressing  within a 1 ms pat- tern. With  it is possible to set whether with each crossing of the center axis of the Antenna, a positioning pulse is to be generated (e. g. during a back-and-forth move- ment directly above a Transponder). If not, only one pulse per Transponder crossing is output. For a re-newed triggering it would then be essential that the voltage S falls again under the Threshold for Calculation-Positioning (refer to section 5.3.2.3 on page 37). With  you can choose whether the Posi Pulse and its corresponding bit are turned off in the system status after the time persiod set with  or after the voltage S has fallen below the threshold set with .  enables setting the the threshold value which has to be succeeded in order to ac- tivate the use of the measured voltages in X direction for the calculation.  does the same for the Y direction. The actual threshold value is determined by the maximum of a scan cycle minus the input value. 5.3.2.4 (F)requency & Antenna Tuning Figure 21 Menu: (F)requency & Antenna Tuning The receiver frequency „()x“ is calculated with FZF = 455 kHz and the bandwidth B = 5.5 kHz according to the following formula: Figure 22 Formula: Calculation of the receiver frequency As this is a SSB-reception, according to the above mentioned formula the upper side- band should be set to 1553000 Hz and the lower sideband to 1575000 Hz. S:0006 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1 Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1 U[/mV]:24200 I[/mA]: 270 T[Grd.C]:+19 S_MA: 0002 S_SL: 0000 Noise 0 (R)x_Frequency [/Hz]: 1575000 ( 61250 Hz) A(u)to-Tune 0 (A)ntenna-Tuning [0..15,+,-]: 15 switch (T)ransmitter: 1 (esc)to quit Frx 4 FZF – 64 kHz +- B 2----      =

39 With  or with the  or  keys you may tune the transmitting antenna by switching the power consumption to max. (resulting in the largest reception range).  enables switching the transmitter on (1) or off (0) for control reasons.  is automatically set to 1 upon leaving the monitor.  enables activating auto tuning. Following each system switch on, the transmitter cy- cle is retuned. This procedure takes approx. 16 sec. After that, every 10 sec. the tun- ing is re-checked (as long as there is no transponder within the field) and re-tuned if necessary. 5.3.2.5 C(A)N-Parameters This menu enables setting the various CAN Bus parameters. Before being able to use the CAN bus interface it is essential to activate it by pressing . Figure 23 Menu: C(A)N-Parameters Entering  enables the generation of telegrams either as standard frames according to CAN2.0A or as extended frames according to CAN2.0B. Correspondingly it is pos- sible to either set the Identifier  (CAN address) as 11 bit value (0-2047) or as 29 bit value (0-536870911). The identifier selectable under  corresponds to the transmitted frames for the Mes- sage Object 1 (refer to Table 5 on page 25). The identifier selectable under  refers to the Message Object 2 (refer to Table 6 on page 26),  refers to the Message Object 3 (refer to Table 7 on page 26). Input of 0 deactivates the corresponding Message Ob- ject. With  it is possible to change the CAN baudrate.  enables either the activation of a permanent output of the Clock for Sampling which can be set by pressing  (1), or the activation of an output that is only gener- ated whenever a Transponder is within the reception range (0). S:0006 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1 Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1 U[/mV]:24200 I[/mA]: 270 T[Grd.C]:+19 S_MA: 0000 S_SL: 0000 Noise 0 SR = 00: NO ERROR / / / / (C)AN active NO E(X)tended CAN STANDARD (I)dentifier: TX [0..2047]: 10 (A)-Identifier: TX [0..2047]: 0 (D)-Identifier: TX [0..2047]: 0 CAN-(B)aud [20,50,125,250,500,1000 kB]: 1000.0 or B(R)P Baudrate Prescaler [0..63]: 0 (S)JW Sync Jump Width [0..3]: 0 Tseg(1) [2..15]: 6 Tseg(2) [1..7]: 1 resulting sample point: 70 % (P)eriod [4.500mS]: 8 Co(n)tinous Telegrams 1 CAN on Re(m)ote Request 0 (F)reeze Values for n Telegrams [0..20]: 0 (esc) to quit

40  activates the remote operation. In this case (independent of the settings of Con- tinuos Telegrams) telegrams are no longer generated, but only remote frames with the corresponding address are answered.  offers the option to ’freeze’ the output for 0 to 20 telegrams, i. e. the values at the time of the positioning pulse output are preserved. The CAN status register is displayed in the uppermost line of the menu. This informa- tion may be used for simple diagnosis. 5.3.2.6 Cs(v) For diagnosis, it is possible to start the output of the values Code, USum, UDif, Y-Pos, X-Pos, the states Transponder within range, Code OK, Positioning pulse (also refer to Table 3 on page 20), number of code readings (Read), number of code reading failures (N) and in addition a telegram counter in CSV format (Comma Sepa- rated Values; especially for processing text files with programs for table calculation). Data output is carried out with 38.400 Bd, 8 bit and even parity, until it is terminated by pressing any key. Following the pressing of a key, a reset is generated and the Antenna is re-set to its original condition (not monitor mode) including the saved parameters. The CSV output could e. g. be saved using the program HyperTerminal® (also refer to section 5.1 on page 30). To do so, use the function record text ... of menu Transmission and insert a file name (this file name should have the ending .csv, in order to enable the table calculation program to automatically detect this file later). Once the file has been recorded and closed under HyperTerminal®, it may be loaded into a table calculation program (e. g. Microsoft® Excel®, Sun® StarCalc®, ...). When opening the file, the table calculation program prompts various options. Select the option that indicates that this file consists of comma separated values. Then the data may be processed as diagrams or recorded as native table calculation file for transmission.

41 5.3.2.7 Display (X)Histogram / (-) This submenu displays the voltages induced by a Transponder in X-direction as abso- lute or signed values. Figure 24 Menu: display (X)Histogram Each column represents a location. A voltage value is represented by a row of Os. Directly underneath the histogram, the values used for the respective position calcu- lation are marked as <<<>>>. Below this row, the calculated position with mini- mum, actual, and maximum values is displayed. Pressing any key returns to the main menu. NOTE! The (M)ux item is for test purposes only. X_Histogram, press any key to return > 1000..................... > 900:..................... > 800:..................... > 700:.........OoOoo....... > 600:.......oOOOOOOo...... > 500:o.....oOOOOOOOOOoo..O > 400:OooOoOOOOOOOOOOOOO.OO > 300:OOOOOOOOOOOOOOOOOOOOO > 200:OOOOOOOOOOOOOOOOOOOOO > 100:OOOOOOOOOOOOOOOOOOOOO ---+---+---+---+---+- 1 4 8 12 16 20 <<<<<<>>>> 55 57 60 5 X_Histogram, press any key to return > 900:..................... > 800:..................... > 700:..................... (M)ux [0..3,END = 9] > 600:..................... > 500:O...................O > 400:O................O..O > 300:OOOO.............OO.O > 200:OOOO.............OO.O > 100:OOOO.............OO.O > 0:OOOO.............OO.O >-100:....OOOOOOOOOOOOO..O. >-200:....OOOOOOOOOOOOO..O. >-300:....OOOOOOOOOOOOO..O. >-400:.....OOOOOOOOOOOO..O. >-500:.......OOOOOOOOO..... >-600:........OOOOOO....... >-700:.........O.O......... >-800:..................... >-900:..................... <<<<>>>>>> 55 59 59 4

42 5.3.2.8 Display (Y)Histogram / (+) This submenu displays the voltages induced by a Transponder in Y-direction as abso- lute or signed values. Figure 25 Menu: display (Y)Histogram Each column represents a location. A voltage value is represented by a row of Os. Directly underneath the histogram, the values used for the respective position calcu- lation are marked as <<<>>>. Below this row, the calculated position with minimum, actual, and maximum values is displayed. Pressing any key returns to the main menu. Y_Histogram, press any key to return > 1000........................................ > 900:........................................ > 800:...................oOOOo................ > 700:..................OOOOOOOo.............. > 600:.................OOOOOOOOOO............. > 500:................OOOOOOOOOOOo............ > 400:..........o.o...OOOOOOOOOOOO....o....... > 300:O..oooOOOOOOOO.OOOOOOOOOOOOOO.oOOOOoOo.O > 200:OOOOOOOOOOOOOOoOOOOOOOOOOOOOO.OOOOOOOOoO > 100:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO ---+---+---+---+---+---+---+---+---+---+ 1 4 8 12 16 20 24 28 32 36 40 <<<<<>>>> 101 103 105 4 Y_Histogram, press any key to return > 900:........................................ > 800:........................................ > 700:........................................ > 600:........................................ > 500:........................................ > 400:........................................ > 300:....O.OOOOOOO..................OOOO..O.O > 200:O.OOOOOOOOOOOO................OOOOOOOO.O > 100:O.OOOOOOOOOOOO...............OOOOOOOOO.O > 0:O.OOOOOOOOOOOO...............OOOOOOOOO.O >-100:.O............OOOOOOOOOOOOOOO.........O. >-200:...............OOOOOOOOOOOOOO........... >-300:...............OOOOOOOOOOOOO............ >-400:................OOOOOOOOOOOO............ >-500:................OOOOOOOOOOO............. >-600:.................OOOOOOOOOO............. >-700:..................OOOOOOO............... >-800:.....................OO................. >-900:........................................ <<<<<>>>> 101 103 105 4

43 5.3.2.9 (L)oad values to EEProm This submenu enables saving the parameters within a non-volatile memory once the corresponding pass word has been entered. This is necessary in order to accept the current changes as permanent settings. 5.3.2.10 (U)pdate Firmware This submenu offers the option of a software update without having to disconnect and re-connect the power supply. However, first it is necessary to install the update pro- gram as described in section 5.4 on page 44. Then press  within the main menu. A display with the following instructions will ap- pear: 1. Close the COM-Port in Hyperterm using the icon . 2. Open the flash program ST10-Flasher 2.exe on your PC. 3. In ST10-Flasher 2.exe select the COM-Port, via which the antenna is cur- rently connected to your PC. 4. Select the hex file to be programmed in ST10-Flasher 2.exe. 5. Now return to Hyperterm, re-connect the COM-Port via the icon and press any key. 6. Within the next 20 sec. close the COM-Port using the icon , in Hyperterm, switch back to ST10-Flasher 2.exe and start programming. Once the programming is completed, return to Hyperterm, wait 10 sec. and re-con- nect the COM-Port (e. g. via the icon ). Then re-start the monitor mode (also refer to section 5.3.1 on page 31). 5.3.2.11 Import (1) / export (2) User Parameter It is possible to store or load all user parameters on or from a host via XMODEM file transfer protocol: - With  you can import a parameter file from a host. After pressing that key you should start an XMODEM file transfer within 50 seconds. When using Hyperterm go to Transfer > Send file > XMODEM > File name. If the message Success is displayed the file has been checked and loaded in the parameter RAM. To pre- serve the loaded values you should transfer them into the EEPROM (see 5.3.2.9 on page 43). - With  you can export user parameters to a host. After pressing that key you should start an XMODEM file transfer. When using Hyperterm go to Transfer > Receive file > XMODEM > Folder and then specify a file name. The file is trans- ferred and the message Success should be displayed. 5.3.2.12 P(r)int Parameters Enables writing the system parameters into terminal program file (e. g. Hyperterm).

44 5.4 Software Update (Antenna Software) It is possible to update the software of the integrated interpreters via the serial inter- faces using a portable PC. Following switching-on, the integrated download unit will check for approx. 10 seconds whether a download is to be carried out. In case a download is not generated, the units will return to the normal operating program. Data received during this period of 10 seconds are examined for their validity. NOTE! Only the update program described below may be used for the software update! 5.4.1 Installation of the ST10-Flasher Program for Software Update The program for the antenna software update is a 32-bit application for Microsoft® Windows®. Upon request, this program is sent by email. Please address your re- quests to the email, phone, fax or mailing address given on the cover of this manual. In order to install the program follow these steps: 1. Save the file ST10-Flasher2_setup.exe from the email to your hard disk, then open the Windows Explorer and navigate to the file. 2. Double click ST10-Flasher2_setup.exe in order to start the installation pro- cess. The installation routine allows you to adjust the installation path but usually the defaults should work. 3. In order to start the software update program, use the Windows start menu, where you can find ST10-Flasher 2.exe. Then you can proceed with the update of the antenna software as follows. 5.4.2 Software Update While the software update is carried out, no other programs may occupy the used se- rial interface (COM-Port). Thus, terminate any such connections in your Terminal pro- gram (e. g. Hyperterm). Then connect the antenna to your PC. Unless you use the Götting Adapter HW CAB00113 (see below) you have to use an appropriate interface converter (not included in the antenna scope of supply; refer to the note on the top of page 30). Then start the update program on your PC as described above. The antenna HG 98860ZA contains 2 microprocessors. The master processor is pro- grammed via the serial interface (see section 4.2.3.1 on page 18). The slave processor can be controlled with the same program ST10-Flasher 2.exe. The connection to this processor however is to be made via the slave interface (RS 232, see pins D and P in Table 1 on page 17). The connection parameters can be chosen in ST10-Flas- her 2.exe. The Baudrate should not be set to values above 57600 Baud. NOTE! The Programming-/Service-Adapter HW CAB00113 by Götting can be used to connect the antenna socket to the PC. The adapter cable is fitted with two DE9 sockets that are used alter- nately for the master and slave connection.

45 Figure 26 Update program: Operating Elements Start the programming process by switching on the antenna and then click Program within a period of 10 seconds afterwards. A device reset follows and after a short pe- riod of time, the file is being transmitted. Figure 27 Update program: programming procedure Once the programming process is completed, the program can be closed (close). The interpreter is restarted automatically and uses the new program. 2 Selection of the serial interface 1 Selection of the Hex file to be 5 Status messages 4 Start the programming procedure 6 Exit the program transmitted 3 This option must always be activated and baud rate (max 57600 Baud) If an error occurs during the transmis- sion, red colored status messages are shown. As long as green colored mes- sages are output, the software update is correct. The last 2 messages of a normal up- date procedure are: ProgramFlash: Ok and CloseCom: Ok

46 6 Maintenance The system is largely maintenance free. Any maintenance is limited to: - visual examination of the antennae (ensuring all screws, cables and plugs are correctly fastened). Document regularly the power consumption and power supply of each antenna. These values can be obtained from any menu in the monitor program. If necessary, effect an update of the system software as described above (section 5.3.2.10 on page 43 or 5.4 on page 44). Date and version of the current antenna soft- ware can be obtained from the main menu.

47 7 Trouble Shooting The following table contains a list of errors that might occur. For each error, a symptom description is given. In the third column you will find a description of how to locate and possibly correct the error. If you should not be able to correct an occurring error, please use the table to locate the source of the error as exactly as possible (nature of malfunction, at which point of time did the error occur, etc.) before consulting us. Error Possible cause Diagnosis/Correction No system function Even though a transpon- der is located within reception range, all out- puts remain inactive Power supply is not sufficient Measure the voltage at the respec- tively labeled clamps. No contact is possible, only unintelligible char- acters are sent. 1. RS 422 T+ (R+) exchanged with RS 422 T- (R-) by mistake 2. Signal ground not connected, a too high potential difference between antenna and receiver. 3. Wrong setting of transfer param- eters 4. Wrong procedure. 1. Check the connections 2. Connect signal ground 3. Choose only 19200 or 38400 Bd, 8 bit, even parity. 4. Choose the correct procedure with the PC and the system monitor. Inaccurate values at low temperature. System needs a certain warm-up time in order to operate at sufficient accuracy in low ambient tempera- ture. Wait until the system has warmed up (approx. 5 minutes at -20o C). Output values are not reproducible, lack of accuracy Radio interference Check value for S in the monitor mode. If these are over ca. 50, there could be interference in the range of 64 kHz. Transponders are detected unreliably / no reliable positioning pulses 1. Interfering frequencies 2. The corresponding thresholds (refer to Figure 20 on page 37) are not correctly set 1. refer to above paragraph 2. Carry out the commissioning as described in section 3 on page 10 Table 13 Trouble shooting

48 8 Technical Data 8.1 Transmitter-Receiver Antenna Antenna HG 98860ZA Casing see Figure 13 on page 16 Weight approx. 36 kg Effective antenna area 1500 x 600 mm (function range positioning) Power supply antenna 24 V -20 % +50 %, max. 1.3 A @ 24 V Operating temperature -25 to +50 oC heat-up time 5 minutes Mechanical stability 5 g 11 ms / 2 g 10 to 55 Hz Metal free area see description for Figure 5 on page 8, and sec- tion C on page 52 Protection IP 65 Cabling max. 20 m cable Max. pass-over speed 10 m/s tested Reading distance (dis- tance transponder - underside reading antenna) 150 to 350 mm (with transponder HG 70653) Nominal reading dis- tance 200 to 250 mm (with HG 70653) Width of the active Antenna reading area ±750 mm (Y) x ±300 mm (X) Static positioning accu- racy (Vx & Vy < 1 m/s) ±15 mm @ nominal reading distance (with HG 70653; also refer to section F on page 54) Connection 16-pin Amphenol connector gold-plated contacts Signal processing time 8 ms output RS 422 / CAN The output requires 19200 or 38400 Bd. The tele- gram content may be configured. 3964R or “trans- parent“ selectable Output positioning pulse 20 mA current source, potentially separated Table 14 Technical Data Antenna HG 98860ZA

49 8.2 Connection Cable Connection Cable HG 09240DB Length according to purchase order, max. 20 m Diameter approx. 10.9 mm Type HELUKABEL F-C-PURÖ-JZ grey, 12x 1 mm², EMC preferred type, tear resistant, coolant resis- tant, Cu screened, without inner sheath Weight: 262 kg/km Cop. Weight: 187 kg/km (also refer to http://www.helukabel.de/) Table 15 Technical Data Connection Cable HG 09240DB

50 9 Appendix A Procedure 3964R For the computer interconnection between antenna <—> SPS a 3964R-Protocol may be used. As the antenna outputs data cyclical, this results in some simplifications during implementation of the 3964R. The following diagrams describe the procedure. The following settings need to be observed: - Transponder system has lower priority - Data transfer is set to 1 start bit, 8 Data bit, parity even, 1 stop bit, Baudrate 19200 Bd (default) or 38400 Bd. A.1 Data direction antenna -> SPS In this direction the antenna data is transmitted cyclically. The data sentence always starts with an „=“-character (hex 0x3d). The cycle time is parameterizeable and should take a complete part, or multiple thereof, of the transponder code´s transmission line. In the present system, the duration for the transponder code transmission is 32 ms. The minimum cycle duration depends upon the telegram length, the Baudrate and the chosen telegram content. In the diagram T_ZVZ stands for the programmable character delay and T_QVZ for the programmable acknowledgement delay. Figure 28 Diagram procedure 3964R; antenna —> SPS (Figure

51 A.2 Data direction SPS -> Antenna In this direction commands are transmitted only when required (by now the command for starting the monitor program is implemented; see section 4.2.3.1.2 on page 22). To overcome the frequent cyclical data output of the antenna, the 3964R of the antenna has a lower priority (see Figure 28). Figure 29 Diagram procedure 3964R; SPS —> antenna B Procedure „transparent“ For the interconnection antenna <—> SPS a transparent protocol can be used. The fol- lowing settings have to be observed for the data transmission: - 1 start bit, 8 data bit, parity even, 1 stop bit, Baudrate 19200 Bd (default) or 38400 Bd. B.1 Data direction antenna -> SPS In this direction, cyclical antenna data is transmitted. The duration is parameterize- able, it should take an integral part or multiple of the transponder code transmission. The minimum cycle duration depends upon the telegram length, the Baudrate and the chosen telegram content. The data sentence always starts with an „=“-character (hex 0x3d). Then the parame- ters chosen from the respective menu follow. The telegram is to be quit with an 8 bit check sum over all characters. The characters are sent without delay. B.2 Data direction SPS -> antenna Commands are transmitted into this direction if necessary. Each command must start with a „=“-character (hex 0x3d). The format of the commands is described in Table 3 „Possible system status messages“ on page 20. The telegram is to be quit with a 8 bit

52 check sum over all characters. The characters are sent without delay. The characters must be received within the parameterizeable character delaytime. Otherwise the tele- gram will be chopped. C Influence of a metal plate on the antenna 1 mm thickness of the plate Measurements have been carried out with a steel plate above the antenna in variable distances. The transponder was positioned at nominal reading distance (250 mm) un- derneath the antenna. Current consumption was retuned to maximum value, see sec- tion 5.3.2.4 on page 38. The measured displacement signal of the transponder is not influenced through metal as long as the surface of the antenna is covered evenly. D Influence of a metal frame on the antenna Size of frame: 1600 mm x 800 mm, 30 mm hollow profile, 1 mm wall thickness Distance (metal <—> antenna) [mm] Transponder HG 70653 @ 250 mm [S /units] antenna current [mA] without with retuning without with retuning 150 5 180 240 320 200 5 480 250 810 300 385 650 300 900 400 490 650 420 900 650 900 Table 16 Influence of metal on the antenna Distance (metal <—> antenna) [mm] Transponder HG 70653 @ 250 mm [S /units] antenna current [mA] without with retuning without with retuning 150 215 520 290 800 200 340 540 350 830 300 510 585 580 880 400 595 605 840 900 640 900 Table 17 Influence of metal on the antenna  

53 Measurements have been carried out with a steel frame above the antenna in variable distances. The transponder was positioned at nominal reading distance (250 mm) un- derneath the antenna. Current consumption was retuned to maximum value, see sec- tion 5.3.2.4 on page 38. The measured displacement signal of the transponder is not influenced through metal as long as the surface of the antenna is covered evenly. E Influence of reinforcement steel mesh below the transpon- der Figure 30 Test setup with Transponder and reinforcement mat The measurement was performed with a reinforcement mat with the meshes sized at 90 x 240 mm. The measured parameters were: Tuning value, current consumption, value of reference coil Us, value of positioning coil Ud and whether the antenna is able to decode the Transponder code. The position of the transponder was X = -100 mm, Y = 0 mm. The transponder was located in a distance of 20 cm below the antenna, and the mat was lowered in intervals of 5 cm. Distance between mat and transponder / cm Tuning value antenna Current consumption antenna / mA Us / units Ud / units decoding Without mat 4 980 850 920 yes 25 6 920 750 830 yes 20 6 890 700 780 yes 15 7 860 640 710 yes 10 8 780 460 530 yes 5 9 770 400 460 no 0 12 660 0 0 no Table 18 Influence of reinforcement steel mesh on the transponder

54 F Accuracy of the deviation calculation Figure 31 Typical accuracy of theY-deviation Figure 32 Typical accuracy of the X-deviation

HG 98860ZA English, Revision 04, Date: 19.01.2015 55 10 List of Figures Figure 1 Examples of automated vehicles using transponder systems............ 5 Figure 2 System components (optional extras in brackets) .............................. 6 Figure 3 Track guiding a vehicle with one antenna........................................... 7 Figure 4 Polarity of the deviation ....................................................................... 7 Figure 5 Antenna dimensions ............................................................................ 8 Figure 6 Application of the washers while mounting the antenna..................... 8 Figure 7 Diagram: Commissioning Protocol / insignificant interference level; shown is the sum voltage over the travelled distance....................... 11 Figure 8 Diagram: Commissioning Protocol / undisturbed Transponder deco- ding.................................................................................................... 11 Figure 9 Diagram: Commissioning Protocol / high interference level; shown is the sum voltage over the traveled distance ...................................... 12 Figure 10 Diagram: Commissioning Protocol / jammed decoding (function still ensured)............................................................................................. 13 Figure 11 Diagram: Commissioning Protocol / false POSI Pulse generated through noise and threshold set too low ........................................... 13 Figure 12 Photo Transmitter-Receiver Antenna HG 98860ZA........................... 15 Figure 13 Drawing Antenna HG 98860ZA (with casing dimensions)................ 16 Figure 14 16-pin Antenna connection socket.................................................... 17 Figure 15 Formula: Minimum update rate.......................................................... 18 Figure 16 CAN Bus Infrastructure (Example) .................................................... 25 Figure 17 Main menu of the monitor program ................................................... 33 Figure 18 Menu: (S)erial Output......................................................................... 35 Figure 19 Menu: „(D)isplay Telegram Content“................................................. 36 Figure 20 Menu: (T)ime & Code ........................................................................ 37 Figure 21 Menu: (F)requency & Antenna Tuning .............................................. 38 Figure 22 Formula: Calculation of the receiver frequency................................. 38 Figure 23 Menu: C(A)N-Parameters .................................................................. 39 Figure 24 Menu: display (X)Histogram .............................................................. 41 Figure 25 Menu: display (Y)Histogram .............................................................. 42 Figure 26 Update program: Operating Elements.............................................. 45 Figure 27 Update program: programming procedure ...................................... 45 Figure 28 Diagram procedure 3964R; antenna —> SPS.................................... 50 Figure 29 Diagram procedure 3964R; SPS —> antenna.................................... 51 Figure 30 Test setup with Transponder and reinforcement mat........................ 53 Figure 31 Typical accuracy of theY-deviation ................................................... 54 Figure 32 Typical accuracy of the X-deviation .................................................. 54

HG 98860ZA English, Revision 04, Date: 19.01.2015 56 11 List of Tables Table 1 Allocation of the 16 pin Antenna Connection Socket ........................ 17 Table 2 Data words in a telegram with 21 byte length................................... 19 Table 3 Possible system status messages..................................................... 20 Table 4 List of the system commands............................................................ 22 Table 5 Structure of the CAN Message Object 1........................................... 25 Table 6 Structure of the CAN Message Object 2........................................... 26 Table 7 Structure of the CAN Message Object 3........................................... 26 Table 8 Structure of the CAN Message Object 4........................................... 27 Table 9 Coding of commands ........................................................................ 27 Table 10 Connection cable pin allocation........................................................ 28 Table 11 Terminal settings for the monitor program ........................................ 30 Table 12 Description of system variables (monitor program) .......................... 33 Table 13 Trouble shooting................................................................................ 47 Table 14 Technical Data Antenna HG 98860ZA .............................................. 48 Table 15 Technical Data Connection Cable HG 09240DB .............................. 49 Table 16 Influence of metal on the antenna ..................................................... 52 Table 17 Influence of metal on the antenna ..................................................... 52 Table 18 Influence of reinforcement steel mesh on the transponder............... 53

57 12 Index Numbers 3964R 50 A accuracy 54 Analyis Interface 27 Antenna Dimensions 16 Interfaces 18 Mounting 8 Technical Data 48 C Company names 59 Connection Cable 28 Technical Data 49 Copyright 59 E Exclusion of Liability 59 F Function 6 H HG 09240 6, 28, 49 70653 8, 48 81830 6 98860 5, 6, 8, 17 I Installation 10 Interfaces CAN 25 M Maintenance 46 Monitor Program 31 Parameter Settings 30 Usage 32 P Positioning Pulse 27 Procedure „transparent“ 51 Procedure 3964R 50 R Receiver Frequency Calculation of the 38 S Software 30 Software update 44 Softwareupdate 44 System Commands 22 System Components 6 System Monitor 31 System Variables 33 T Technical Data 48 Telegram 18, 19 Terminal Program 30 trade marks 59 transparent 51 Transponder 8 Trouble Shooting 47 U Update Rate 18

58 13 Handbook Conventions In documentations of Götting KG the following symbols and assignments are being 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 eys are ighlighted (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, author, 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 cer- tain 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.

HG 98860ZA English, Revision 04, Date: 19.01.2015 59 14 Copyright and Terms of Liability 14.1 Copyright This manual is protected by copyright. All rights reserved. Violations are subject to pe- nal legislation of the Copyright. 14.2 Exclusion of Liability Any information given is to be understood as system description only, but is not to be taken as guaranteed features. Any values are reference values. The product charac- teristics are only valid if the systems are used according to the description. This instruction manual has been drawn up to the best of our knowledge. Installation, setup and operation of the device will be on the customer’s own risk. Liability for con- sequential defects is excluded. We reserve the right for changes encouraging techni- cal improvements. We also reserve the right to change the contents of this manual without having to give notice to any third party. 14.3 Trade Marks and Company Names Unless stated otherwise, the herein mentioned logos and product names are legally protected trade marks of Götting KG. All third party product or company names may be trade marks or registered trade marks of the corresponding companies.