Gyroscope HG G-84300ZC · Gyro can perform a Drift Compensation whenever the vehicle is not moving. It then calcu-lates the amount of the current drift and – when the vehicle is

Gyroscope

HG G-84300ZCGyro for AGV

English, Revision 07 Date: 09.05.2018 Dev. by: LM Author(s): RAD

Autonomous Vehicles

Innovation through Guidance www.goetting-agv.com

Dev

ice

Des

crip

tion

HG

G-8

4300

ZC

http://www.goetting-agv.com


Device Description HG G-84300ZC | English, Revision 07 | Date: 09.05.2018

2 Overview

SummaryCharacteristics of the Gyro HG G-84300ZC:

• Output: Angle, 0° – 360°,resolution 0.01°

• Data rate of measurement output:1 to 100 Hz

• Maximum spin rate: 300 °/s

• Compact, light weight IP65 casing

• Robust (no moving parts)

• Wide operating temperature range from -40 to +85° C

• Long lifetime (MTBF > 100,000 h),maintenance free

• Interfaces: CAN/CANopen® (data) & USB (service / configuration)

© 2018 Götting KG, errors and modifications reserved.

The Götting KG in D-31275 Lehrte has a certified quality management systemaccording to ISO 9001.

3Table of Contents

Content

1 About this Document ............................................................................. 5

2 Introduction............................................................................................. 6

3 Hardware ................................................................................................. 73.1 Alignment of the Measuring Axis .................................................................................. 73.2 Dimensions ........................................................................................................................... 73.3 Mounting ............................................................................................................................... 73.4 Pin Assignment ................................................................................................................... 83.4.1 X1 (PWR/USB) .................................................................................................................................. 83.4.2 X2 (CAN) ............................................................................................................................................. 83.4.3 X3 (CAN) ............................................................................................................................................. 83.5 LEDs ........................................................................................................................................ 93.6 Error Messages .................................................................................................................... 9

4 Drift Compensation / Angle Reset ...................................................... 104.1 Drift Compensation ..........................................................................................................104.2 Angle reset ..........................................................................................................................11

5 Configuration via USB.......................................................................... 125.1 USB Interface .....................................................................................................................125.2 Terminal Program .............................................................................................................135.3 Terminal Output In Monitor Mode ...............................................................................145.3.1 Terminal Output for CAN Standard.......................................................................................... 145.3.2 Terminal Output for CANopen®................................................................................................ 155.4 Logging (CSV) ....................................................................................................................165.5 Firmware Update ..............................................................................................................16

6 CAN Bus Interface ................................................................................ 196.1 Receiving Box ....................................................................................................................196.2 Transmitter Box .................................................................................................................20

7 CANopen® Interface ............................................................................ 217.1 Description of the Process Data Objects (PDOs) ....................................................217.1.1 Transmission Objects ................................................................................................................... 217.1.2 Reception Object ........................................................................................................................... 227.2 Heartbeat .............................................................................................................................227.3 Description of the Service Data Objects (SDOs) .....................................................237.4 Object Directory ................................................................................................................237.4.1 Communication Specific Entries .............................................................................................. 237.4.2 Standardized Device Profile Range.......................................................................................... 257.4.3 CANopen® Object Dictionary .................................................................................................... 257.4.3.1 Device Type ................................................................................................................................. 257.4.3.2 Error Register .............................................................................................................................. 257.4.3.3 COB-ID SYNC message ............................................................................................................ 257.4.3.4 Device Name ............................................................................................................................... 257.4.3.5 Hardware Version....................................................................................................................... 26


4 Table of Contents

7.4.3.6 Software Version ........................................................................................................................267.4.3.7 Producer Heartbeat Time.........................................................................................................267.4.3.8 Identity Object .............................................................................................................................267.4.3.9 Receive PDO Parameter ...........................................................................................................267.4.3.10 Mapping RPDO_1.......................................................................................................................277.4.3.11 Transmit PDO_1 Parameter ....................................................................................................277.4.3.12 Mapping TxPDO_1 .....................................................................................................................277.4.3.13 8 Bit Digital Input (transmitted in TxPDO 1) ......................................................................287.4.3.14 16 Bit Analog Inputs (transmitted in TxPDO 1) ................................................................287.4.3.15 32 Bit Analog Inputs (transmitted in TxPDO 1) ................................................................287.4.3.16 8 Bit Life Counter (transmitted in TxPDO 1) ......................................................................28

8 Technical Data ...................................................................................... 29

9 List Of Pictures ..................................................................................... 30

10 List Of Tables ........................................................................................ 31

11 Index ...................................................................................................... 32

12 Copyright and Terms of Liability ........................................................ 3412.1 Copyright ............................................................................................................................ 3412.2 Exclusion of Liability ....................................................................................................... 3412.3 Trade Marks and Company Names ............................................................................. 34



5About this Document – Chapter 1

1 About this Document

The following symbols and formatting are used in Götting documentations:

Note

Indicates technical information that should be followed when using the device.

ATTENTION!Indicates dangers that may lead to damages or the destruction of the device.

BEWARE!Indicates dangers that may lead to injuries or severe damage of property.

WARNING!Indicates dangers that may lead to injuries, potentially with loss of life, or severe damage of property.

Tip

Indicates information that makes handling of the device easier.

Link

Indicates additional information in the internet, e.g. on our homepage www.goetting-agv.com. Those links are clickable in the PDF version of this documentation.

Program texts and variables are indicated through the use of a fixed width font.

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 valid).




6 Chapter 2 – Introduction

2 Introduction

The Gyro HG G-84300ZC measures the angle of one rotation axis and permanently outputs this angle via its interface, CAN/CANopen®. This information can be used by a superordi-nate vehicle controller (not part of the scope of supply) to calculate the current position of all types of vehicles, thus using the Gyro as part of an inertial navigation system.

Figure 1 Photo HG G-84300ZC

The device is based on the latest generation of the MEMS technology. Compared to other gyroscopes, it offers advantages like cost-performance ratio, low current consumption, ex-cellent robustness and long durability. In addition to the high quality technology the Gyro of-fers an integrated Drift Compensation algorithm, that can be used to further increase the accuracy of the angle measurement (see section 4.1 on page 10).

7Hardware – Chapter 3

3 Hardware

3.1 Alignment of the Measuring Axis

Figure 2 Sketch: Measuring axis

3.2 Dimensions

Figure 3 Sketch: Dimensions of the casing (in mm) / Mounting Drill holes

3.3 MountingOn the front plate of the Gyro two cover plates can be removed. Then two mounting drill holes can be reached (see picture above). When the gyro is mounted, the cover plates should be re-attached.

X+

-

The angle measurementfor X increases when theGyro is rotated counter-clockwise

Drill hole

Drill hole for M4 mounting screw

for M4

approx. 80

mountingscrew


8 Chapter 3 – Hardware

3.4 Pin Assignment

Note

There is no terminating resistor (terminator) for the CAN bus in the device!

3.4.1 X1 (PWR/USB)

5-pin M12 panel plug (A coded)

3.4.2 X2 (CAN)

5-pin M12 panel plug (A coded)

3.4.3 X3 (CAN)

5-pin M12 panel plug socket (A coded)

Pin Signal Description

1 +Ub (24V) supply voltage

2 IN1 *) activate drift compensation *)

3 D+ USB

4 D- USB

5 GND supply ground

*) If a high level (24 V) is applied to this input, the Gyro calculates the drift compensation (see section 4.1 on page 10). May only be started when the vehicle is not moving!

Table 1 Pin assignment X1 (PWR/USB)


1 shield (chassis) ground casing


3 GND supply ground

4 CAN_H CAN high

5 CAN_L CAN low

Table 2 Pin assignment X2 (CAN)


1 shield (chassis) ground casing


3 GND supply ground

4 CAN_H CAN high

5 CAN_L CAN low

Table 3 Pin assignment X3 (CAN)


9Hardware – Chapter 3

3.5 LEDsThe CAN LED has a different meaning depending on whether the CAN mode is set to CAN Standard or CANopen® (see section 5.3 on page 14).

3.6 Error MessagesIf an error occurs this is indicated by the LEDs (see above). The errors listed in the table be-low can be shown. If the solution says that you should send the device to Götting please contact us beforehand. Also please try to document, how and when the error occurred.

LED Mode Color / Frequency MeaningSYS Green / Steady light Normal operation

Red / Blinking Parameter error (s. Table 5)SENS Green / Blinking Measuring active

Yellow / Flickering Drift compensation activeGreen / Flickering Drift compensation completed

CAN CANStandard

Green / Steady light Communication OKRed / Blinking Communication error (s. Table 5)

CANopen® Green / Flashing State: STOPGreen / Blinking State: PreoperationalGreen / Steady light State: OperationalRed / Blinking Communication error (s. Table 5)

Table 4 Functions of the LEDs

Error Description ReactionParameter error Error in the parameter

memory when starting the firmware program

– Start the monitor program (s. section 5.3 on page 14) and save the parameters

– Re-start the gyro (switch off supply volt-age and then turn it on again)

– If the error continues to happen after the re-start send the Gyro to the Götting ser-vice department

CAN communi-cation error

The connection via the CAN bus is interrupted

– Check the CAN settings in the monitor program (s. section 5.3 on page 14)

– Make sure the correct CAN mode is selected (depending on the application CAN Standard or CANopen®)

– Check the Hardware (correct fitting of cables, connectors and – if used – the optional CAN terminator)

– Check the communication partners on the CAN bus

– If the error can not be eliminated send the Gyro to the Götting service department

Table 5 How to react in case of an error


10 Chapter 4 – Drift Compensation / Angle Reset

4 Drift Compensation / Angle Reset

4.1 Drift CompensationInherent to the technology of the Gyro is a drift. This drift depends on different variables and changes over time. In order to reduce the effect of the drift on the angle calculation, the Gyro can perform a Drift Compensation whenever the vehicle is not moving. It then calcu-lates the amount of the current drift and – when the vehicle is moving again – compensates the influence of this drift.

Tip

As the accuracy of the angle measurement improves drastically when the Gyro can use drift compensation it is advisable to let it perform the compensation calculation as often as pos-sible.

ATTENTION!Make sure that drift compensation is turned off whenever the vehicle is moving (see below)! Otherwise the calculated drift compensation value is wrong, thus deteriorating the follow-ing angle measurement!

Figure 4 Drift compensation process

Using the inputs the vehicle controller (e.g. PLC) can tell the Gyro to activate the drift com-pensation calculation whenever the vehicle is not moving. The PLC can then check that drift compensation is active via the corresponding outputs. The user sees it from a LED. The PLC then waits until the Gyro signals via the CAN Status Byte that the drift compensation calcu-lation is completed.

Vehicle controller (e.g. PLC)sets the bit (CAN) „Activate DriftCompensation“ to

Vehicle has to stand still

Gyro sets the bit (CAN)„Drift Compensation OK“ to

Gyro sets output (CAN)„Drift Compensation active“ to

Duration of Drift compensation: - Right after startup of device: Up to several minutes due to self heating of the sensor or changes of the surrounding temperature- During normal operation: < 10 s

Time

0

0

0

1

1

2

1

1

3


11Drift Compensation / Angle Reset – Chapter 4

The PLC can either turn off drift compensation when the OK signal comes or after a defined interval. However make sure that it is turned off before the vehicle starts moving again no matter whether the compensation calculation is finished or not. If possible, let the vehicle stand still until the compensation calculation is completed.

4.2 Angle resetThe drift changes the absolute angle measurement over time. That means that if the vehicle crosses the same place again after some time, the absolute angle output will be different from the last time. This doesn‘t influence the validity of the actual angle calculation. How-ever it may be desirable to reset the angle to 0o when the vehicle reaches defined points on the course. In order to do so the vehicle controller (e.g. PLC) can trigger the Set angle to 0 command (CAN).

Figure 5 Angle reset process

Via CAN set the corresponding bit to 1, which also immediately sets the response in the sta-tus bit to 1. At the same time the Gyro resets the angle. Then set the CAN bit back to 0 until you want to reset the angle again. The status bit remains set as longs as the trigger bit is set.

Vehicle controller (e.g. PLC)sets the Bit (CAN)„Set angle to 0°“ to

Gyro sets the Bit (CAN)„Angle set to 0°“ to

Time

0

0

1

1


12 Chapter 5 – Configuration via USB

5 Configuration via USB

5.1 USB InterfaceThe 5 pin connector X1 can be used to establish a connection with a PC. The PC needs to have a USB interface.

Figure 6 Connection example: USB connection with a PC

Tip

Götting offers the optional connection box M12-5-8-USB HG G-20960 that can be used to interconnect the Gyro and the PC. The box allows to connect the gyro using standard M12 cable.

Link

You can find more information on the connection box athttp://goetting-agv.com/components/20960

The USB chip in the Gyro is addressed as a virtual serial interface (virtual COM Port). Thus devices with USB interfaces can be configured using the same terminal programs (see be-low) that are used for RS 232 connections. Usually the virtual COM Port driver is installed automatically in current versions of Microsoft® Windows®.

If the Gyro is not automatically detected as a virtual COM port after establishing the con-nection the STM32 Virtual COM Port Driver (STSW-STM32102) has to be installed manual-ly.

Link

The driver may be downloaded from the following address:http://www.st.com/en/development-tools/stsw-stm32102.html

USB adapter(to be tailored

by the customer)

All other pins:Do not connect

X1 Gyro

Computer (e.g. PCor Laptop) withUSB interface

1

1

1

Ub (+24V)

Typ A Typ B

D+D+D-

D-

GNDGND

2

2

2

3

33

4

44

12345 1 2

34

5

+ –

External voltage supply


http://goetting-agv.com/components/20960

http://www.st.com/en/development-tools/stsw-stm32102.html

13Configuration via USB – Chapter 5

5.2 Terminal ProgramEvery compatible terminal program that supports the ANSI emulation can be used. Ex-amples are HyperTerminal® and Tara Term®. HyperTerminal used to be part of the scope of supply of earlier versions of Microsoft® Windows®. Additionally it can be downloaded from the following address:

Link

https://www.hilgraeve.com/hyperterminal/

Start the terminal program on the PC and connect the Gyro with the PC (see above). As soon as the connection is established successfully the Gyro‘s main menu according to section 5.3 on page 14 appears in the terminal program.

Usually the port COM1 is used for the connection. This depends on the configuration of the PC‘s interfaces. If another port is to be used then adjust it as follows (HyperTerminal®):

1. Select Properties from the menu File (or lick the icon ). The following dialog appears:

2. Use Connect using to select the respective port. Confirm with . Save the altered values if you are asked for it while exiting HyperTerminal.


https://www.hilgraeve.com/hyperterminal/


5.3 Terminal Output In Monitor ModeThe terminal output is different depending on whether the CAN interface is set to CAN Standard or CANopen®. This can be changed via the monitor program.

5.3.1 Terminal Output for CAN Standard

Figure 7 Screenshot: Terminal output in monitor mode / CAN Standard

Up to the dividing line the terminal shows the firmware version and status outputs. Below the following functions can be called:

Reset angle to 0° (see 4.2 on page 11)

Activate or deactivate drift compensation (see 4.1 on page 10)

Note

The two functions above are not used during normal operation of the monitor program. They serve for the initial commissioning at Götting.

The following screenshot shows the drift compensation process inside the monitor pro-gram. A percentage value counts up to 100 % then the drift is below the set threshold de-fined by the parameter Drift margin (see below) and the drift compensation can be deacti-vated again.

Figure 8 Screenshot: Drift compensation via monitor program



Data rate of output (value range: 1 to 100 [x 10ms])

Choose CAN mode (CAN STD / CANopen®)

CAN baudrate (125 kbit/s, 250 kbit/s, 500 kbit/s, 1 Mbit/s)

CAN identifier for receiver box

CAN identifier for transmission box

Threshold under which the drift has to fall so that the Bit Drift compensation OK is set to 1

Time with activated drift compensation after turn-on in order to determine a start value

Save parameters permanently, necessary after each change

Update software, see section 5.5 on page 16

Log data (CSV), see section 5.4 on page 16

5.3.2 Terminal Output for CANopen®

Figure 9 Screenshot: Terminal output in monitor mode / CANopen®

Up to the dividing line the terminal shows the firmware version and status outputs. Below the following functions can be called:

Reset angle to 0° (see 4.2 on page 11)

Activate or deactivate drift compensation (see 4.1 on page 10), the sequence as analog to what happens with CAN Standard, see section 5.3.1 on page 14

Data rate of output (value range: 1 to 100 [x 10ms])

Choose CAN mode (CAN STD / CANopen®)

CAN baudrate (125 kbit/s, 250 kbit/s, 500 kbit/s, 1 Mbit/s)

, , , CANopen® specific settings

Threshold under which the drift has to fall so that the Bit Drift compensation OK is set to 1

Time with activated drift compensation after turn-on in order to determine a start value



Save parameters permanently, necessary after each change

Update software, see section 5.5 on page 16

Log data (CSV), see section 5.4 below

5.4 Logging (CSV)With the command Log data in the monitor program (see above) the Gyro outputs struc-tured data every 100 ms. Each line consists of several sections (columns) that are divided by commas. Using the terminal program those values can be written into a file (recorded). The structure of the file conforms to the CSV format (Comma Separated Values), which can be imported into and analyzed in spreadsheet applications like Microsoft® Excel®.

The data is output as ASCII characters. The lines are closed with <CR LF>. Each line con-secutively includes the following values:

• Rotation rate without drift,

• Raw Data Sensor,

• Bias,

• Bias Counter,

• Bias Timer,

• Bias OK Counter,

• Bias OK flag,

• Temperature,

• Scaling,

• Sensor Status 1,




• CAN Input Command,

• CAN Output Angle,

• CAN Output Temperature,

• CAN Output Status

5.5 Firmware UpdateStart the monitor program (see section 5.3 on page 14).

1. Put the device into the DFU Modus (Device Firmware Upgrade) with .

2. Close the connection via the COM port in the terminal program (disconnect).

For the following steps you need the firmware as a .dfu file as well as the software DfuSeby ST Microelectronics. You can get the firmware file upon request from Götting. The soft-ware DfuSE is available from the following address:



Link


3. Download DfuSE, install the program and start it. It starts into the Demo GUI Mode which is sufficient to carry out the firmware update.

4. Use Choose to select the .dfu firmware file provided by Götting KG.

Figure 10 Firmware Update – Choose file

5. If the status bar says File correctly loaded start the firmware update with Upgrade.

Figure 11 Firmware Update – Start update

Use Choose to select the .dfu file

As shown the DFU mode hasto be active

Start the update with Upgrade

.dfu correctly loades




6. If the update is successful the status bar says Verify successful. Then leave DFU mode and quit the program.

Figure 12 Firmware Update – Leave DFU Mode

Afterwards the connection in the terminal program can be re-established. Then start the monitor program again.

Leave DFU modeand Quit the program

Verify successful showsthat the update was successful


19CAN Bus Interface – Chapter 6

6 CAN Bus Interface

Annotations:

– Angle: radian

– Temperature: = Temperature in oC

6.1 Receiving BoxLength: 8 byte. This is the telegram that is sent from the vehicle controller (e.g. PLC) to the Gyro.

Annotations for Command:

Byte Data

1 Command, see Table 7 below

2

–

3

4

5

6

7

8

Table 6 CAN: Structure of the CAN receiving box

Bit Description

1 De-/Activate drift compensation (see 4.1 on page 10)

2 Set angle to 0 (see 4.2 on page 11)

3

–

4

5

6

7

8

Table 7 CAN: Structure of the command byte

Value shown8--------------------------------


20 Chapter 6 – CAN Bus Interface

6.2 Transmitter BoxLength: 8 Byte. This is the response telegram, that the Gyro sends.

Figure 13 Format of the angle output bytes

Byte Data

1 Byte 1 AngleFloating-Point Number according to IEEE 754, see Figure 13 belowUnit: radian

2 Byte 2 Angle

3 Byte 3 Angle

4 Byte 4 Angle

5 Lowbyte Temperature = Temperature in oC

6 Highbyte Temperature

7 System status, see Table 9 below

8 Cycle counter

Table 8 CAN: Structure of the CAN transmitter box

Status Bit Description

1 Value 1 Drift compensation active

2 Value 1 Confirmation: Angle set to 0°

3–

4

5 Value 1 Drift compensation ok (this function can be influenced via Drift Margin, see 5.3 on page 14)

6–

7

8 Value 1 Parameter error, see section 3.6 on page 9

Table 9 CAN: Structure of the system status byte

Value

8---------------

IEEE 754 Floating-Point Number


21CANopen® Interface – Chapter 7

7 CANopen® Interface

The Node-ID and the transmission rate have to be configured with the serial monitor pro-gram as described in section 5.3 on page 14.

The measurements of the system are transmitted via the so-called TxPDO. The device is configured via SDOs. The CAN identifiers are derived from the node address (1 to 127).

7.1 Description of the Process Data Objects (PDOs)

7.1.1 Transmission Objects

The measured values are transmitted at fixed positions inside the PDOs, a dynamic map-ping is not implemented. The PDO operational mode can be set to cyclical, synchronous or asynchronous mode. In order to avoid a bus load being too high due to constant changes during asynchronous mode with non-cyclical transmission (Event time = 0), the so-called Inhibit time can be set in the CAN menu of the serial monitor (see 5.3 on page 14). A PDO can also be transmitted cyclically, therefore the event time has to be chosen corresponding-ly and 0 has to be chosen for inhibit time.

A TPDO can be activated permanently by choosing in the synchronous mode (255) inhibit time = 0, event_time = 0 and saving of the parameters. Additionally it can be (de)activated temporarily by setting/deleting the highest bit in the corresponding PDO-COB identifier, e.g. [1800,01] or [1801,01].

PDO_1 is sent with Identifier 0x1800 + Node address. It contains 8 Bytes.

Byte Data1 Byte 1 angle

Floating-Point Number according to IEEE 754, see Figure 13 on page 20Unit: radian

2 Byte 2 angle3 Byte 3 angle4 Byte 4 angle5 Lowbyte temperature6 Highbyte temperature7 System status, see Table 11 on page 228 Transmission counter

Table 10 CANopen®: Structure of the transmission box


22 Chapter 7 – CANopen® Interface

7.1.2 Reception Object

Length: 1 Byte

Explanations for Command:

7.2 HeartbeatThe device supports the heartbeat mode. If a heartbeat time > 0 is entered in the CAN menu with each end of the heartbeat timer, the device mode is transmitted via the identifier 0x700 + node address.

Bit Meaning1 Value 1 Drift compensation activated2 Value 1 Acknowledgment: Angle set to0o

3–

45 Value 1 Drift compensation ok (this function can be influenced via Drift

Margin, see 5.3 on page 14)6

–78 Value 1 Parameter error, see section 3.6 on page 9

Table 11 CANopen®: Structure of the system status

Byte Data1 Command, see Table 13

Table 12 CANopen®: Structure reception box

Bit Meaning1 Value 1 Activate drift compensation2 Value 1 Set angle to 0°3

–

45678

Table 13 CANopen®: Structure of a command

Device mode Codestopped 0x04preoperational 0x7foperational 0x05

Table 14 CANopen®: Heartbeat device mode



7.3 Description of the Service Data Objects (SDOs)For accessing the object directory, a SDO is used. It is transferred with a confirmation, that means that each reception is confirmed with a message. The identifiers for read and write access are:

Reading access: 0x600 + Node - Adresse,

Writing access: 0x580 + Node - Adresse.

The SDO telegrams are described in the CiA® norm DS-301. The error codes caused by a erroneous communication are listed in the following table:

7.4 Object DirectoryIn the CANopen® directory all relevant objects for the device are entered. Each entry is marked by a 16 bit index. Sub components are marked by a 8 bit subindex. RO marks read-only entries.

Note

Communication parameters are marked with C, manufacture parameters with M.

The object directory is divided in the following sections:

7.4.1 Communication Specific Entries

Name Number MeaningSDO_ABORT_UNSUPPORTED 0x06010000 Non-supported access to an objectSDO_ABORT_READONLY 0x06010001 Writing access to a Read only objectSDO_ABORT_NOT_EXISTS 0x06020000 Object is not implementedSDO_ABORT_TRANSFER 0x08000020 At saving or loading of the parameters

the signature "save" resp. „load“ has not been used. At calibration the signature „cali“ has not been used.

SDO_ABORT_PARA_VALUE 0x06090030 Value range of parameters exceededSDO_ABORT_PARA_TO_HIGH 0x06090031 Value of parameter too high

Table 15 CANopen®: SDO error codes

Communication specific entries in the range 0x1000 to 0x1FFF

Index Sub index Access Content EEProm0x1000 0 RO Device Type0x1001 0 RO Error Register0x1005 0 RO COB ID Sync Message0x1008 0 RO Number of Entries of Device Name

1 RO Device Name 12 RO Device Name 23 RO Device Name 3

0x1009 0 RO Hardware VersionTable 16 CANopen®: Overview of the object dir., communication specific entries in the range 0x1000

to 0x1FFF (part 1 of 2)



Note

Communication parameters are marked with C, manufacture parameters with M.

0x100A 0 RO Software Version0x1010 0 RO Number of entries of Save Parameter

1 RW Save all0x1011 0 RO Number of entries of Restore Default Param-

eter1 RW Restore Default all2 RW Restore Default Communication Parameter4 RW Restore Default Manufacture Parameter

0x1017 0 RW Producer Heartbeat Time0x1018 0 RO Number of entries of Identity Object

1 RO Vendor ID2 RO Product Code3 RO Revision4 RO Serial Number

0x1400 0 RO Number of Entries of Receive PDO_11 RW* COB-ID2 RO Transmission Type

0x1600 0 RO Number of Objects mapped to Receive PDO_1

1 RO Specification of Appl. Object 10x1800 0 RO Number of entries of Transmit PDO_1

1 RW* COB-ID2 RW Transmission Type C3 RW Inhibit Time C5 RW Event Time C

0x1A00 0 RO Number of Objects mapped to Transmit PDO_1

1 RO Specification of Appl. Object 12 RO Specification of Appl. Object 23 RO Specification of Appl. Object 34 RO Specification of Appl. Object 4

*) Here only the highest bit can be changed in order to temporarily (de-)activate the PDO.

Communication specific entries in the range 0x1000 to 0x1FFF

Index Sub index Access Content EEProm

Table 16 CANopen®: Overview of the object dir., communication specific entries in the range 0x1000 to 0x1FFF (part 2 of 2)



7.4.2 Standardized Device Profile Range

With „Restore All“ additionally the Node ID is set to 1 and the baud rate to 125 Kbaud.

7.4.3 CANopen® Object Dictionary

7.4.3.1 Device Type

7.4.3.2 Error Register

Always sends 0 (no error).

7.4.3.3 COB-ID SYNC message

7.4.3.4 Device Name

Standardized Device Profile Range from 0x6000

Index Subindex Access Content0x6000 0 RO Number of 8 bit digital inputs

1 RO System status0x6200 0 RO Number of 8 bit digital outputs

1 RW Command0x6401 0 RO Number of 16 bit analog inputs

1 RO Temperature0x6403 0 RO Number of 32 bit analog inputs

1 RO Angle0x6F20 0 RO Number 8 bit life counter

1 RO Transmission counterTable 17 CANopen®: Overview of the object dir., stand. device profile range from 0x6000

Index Sub Index Name Type Attr. Map Default Meaning0x1000 00 Device Type Unsigned 32 RO No 0x00050191 Digital/analog Inputs - DS

401Table 18 CANopen®: Device Type

Index Sub Index Name Type Attr. Map Default Meaning0x1001 00 Error Register Unsigned 8 RO No 0x00 Error Register

Table 19 CANopen®: Error Register

Index Sub Index Name Type Attr. Map Default Meaning0x1005 00 COB-ID SYNC Unsigned 32 RO No 0x80000080 Sync Consumer, Sync

ID = 0x80Table 20 CANopen®: COB-ID SYNC message

Index Subindex Name Type Attr. Map Default Meaning0x1008 00 Device Name Vis.-String RO NO „8430“ „Name of the device“

Table 21 CANopen®: Device Name



7.4.3.5 Hardware Version

7.4.3.6 Software Version

7.4.3.7 Producer Heartbeat Time

If the heartbeat time is set to 0 the function is deactivated.

7.4.3.8 Identity Object

7.4.3.9 Receive PDO Parameter

Index Subindex Name Type Attr. Map Default Meaning0x1009 00 Hardware

VersionVis.-String RO NO „A2“ „Version of the controller

board“Table 22 CANopen®: Hardware Version

Index Subindex Name Type Attr. Map Default Meaning0x100A 00 Software

VersionVis.-String RO NO „3.00“ „Version of the controller firm-

ware“Table 23 CANopen®: Software Version

Index Sub Index Name Typ Attr. Map Default Bedeutung

0x1017 00 ProducerHeartbeat Time

Unsigned 16 RW No 0 Heartbeat time in ms (ca.)

Table 24 CANopen®: Producer Heartbeat Time

Index Sub Index Name Type Attr. Map Default Meaning0x1018 00 Identity Object Unsigned 8 RO No 0x04 Number of sub indexes

01 Vendor ID Unsigned 32 RO No 0x00000202 Manufacturer number specified by CiA

02 Product Code Unsigned 32 RO No 0x00084300 Name of the device03 Revision Unsigned 32 RO No 0x00000001 Revision of the device04 Serial Number Unsigned 32 RO No 84..... 7 digit serial number of

the deviceTable 25 CANopen®: Identity Object

Index Subindex Name Type Attr. Map Default Meaning0x1400 00 RxPDO_1

ParameterUnsigned 8 RO NO 2 Number of sub indexes

01 COB-ID Unsigned 32 RW NO 0x40000200 +Node ID

RPDO valid, ID = 0x200 + Node ID

02 TransmissionType

Unsigned 8 RO NO 255 Asynchronous, event-driven

Table 26 CANopen®: Receive PDO Parameter



7.4.3.10 Mapping RPDO_1

7.4.3.11 Transmit PDO_1 Parameter

7.4.3.12 Mapping TxPDO_1

Index Subindex Name Type Attr. Map Default Meaning0x1600 00 Number of

mapped objectsUnsigned 8 RO NO 1 Number of sub

indexes01 1st mapped

objectUnsigned 32 RO NO 0x62000108 Mapped to Index

0x6200,01 with 8 Bit length

Table 27 CANopen®: Mapping RPDO_1

Index Sub Index Name Type Attr. Map Default Meaning0x1800 00 TxPDO_1

ParameterUnsigned 8 RO No 0x05 Number of sub

indexes01 COB ID Unsigned 32 RW No 0x40000180 +

Node-IDPDO_1 valid, ID = 0x180 + Node-ID

02 TransmissionType

Unsigned 8 RW No 255 Asynchronous, event-driven

03 Inhibit Time Unsigned 16 RW No 0 shortest period between transmis-sions, in multiples of 100 μs

04 CompatibilityEntry

Unsigned 8 RW No

05 Event Time Unsigned 16 RW No 10 Cycle time in msTable 28 CANopen®: Transmit PDO_1 Parameter

Index Sub Index Name Type Attr. Map Default Meaning0x1A00 00 Number of

mappedobjects

Unsigned 8 RO No 0x03 Number of sub indexes

01 1st mappedobject

Unsigned 32 RO No 0x64030120 mapped to Index 0x6403,01 with 32 Bit length (angle)

02 2nd mappedobject

Unsigned 32 RO No 0x64010110 mapped to Index 0x6401,01 with 16 Bit length (temperature)

03 3rd mappedobject

Unsigned 32 RO No 0x60000108 mapped to Index 0x6000,01 with 8 Bit length (Status)

04 4th mappedobject

Unsigned 32 RO No 0x6F200108 mapped to Index 0x6F20,01 with 8 Bit length(transmission counter)

Table 29 CANopen®: Mapping TxPDO_1



7.4.3.13 8 Bit Digital Input (transmitted in TxPDO 1)

7.4.3.14 16 Bit Analog Inputs (transmitted in TxPDO 1)

7.4.3.15 32 Bit Analog Inputs (transmitted in TxPDO 1)

7.4.3.16 8 Bit Life Counter (transmitted in TxPDO 1)

Index Sub Index Name Type Attr. Map Default Meaning0x6000 00 number of 8 bit

inputsUnsigned 8 RO No 0x01 number of 8 bit inputs

01 8 bit digitalinput

Unsigned 8 RO Yes ./. System state / TxPDO_1

Table 30 CANopen®: 8 Bit Digital Input (transmitted in TxPDO 1)

Index Sub Index Name Type Attr. Map Default Meaning0x6401 00 number of 16

bit analoginputs

Unsigned 8 RO No 0x01 number of 16 bit analog inputs

01 32 bit analoginput

Unsigned 16 RO Yes ./. Temperature

Table 31 CANopen®: 16 Bit Analog Inputs (transmitted in TxPDO 1)

Index Sub Index Name Type Attr. Map Default Meaning0x6403 00 number of 32

bit analoginputs

Unsigned 8 RO No 0x01 number of 32 bit analog inputs

01 32 bit analoginput

Real 32 RO Yes ./. Angle

Table 32 CANopen®: 32 Bit Analog Inputs (transmitted in TxPDO 1)

Index Sub Index Name Type Attr. Map Default Meaning0x6F20 00 number of 8 bit

Life CounterUnsigned 8 RO No 0x01 number of 8 bit inputs

01 8 bit LifeCounter

Unsigned 8 RO Yes ./. Transmission counter

Table 33 CANopen®: 8 Bit Life Counter (transmitted in TxPDO 1)



29Technical Data – Chapter 8

8 Technical Data

Technical DataOutput Angle, 0 to 360°Resolution 0.01°Maximum spin rate ± 300 °/sData rate 1 to 100 Hz

(10 ms to 1 s)Interfaces CAN/CANopen® and USBDimensions 100 x 70 x 50/80 mm

L x W x H without/with connector(see Figure 3 on page 7)

Weight approx. 540 gCasing aluminium die casingMounting passage in casing for screws M4Protection class IP65Temperature range (operation) -40 to +85° CTemperature range (storage) -55 to +125° CRelative air humidity at 25o C 95% (without bedewing)MTBF >100,000 hVoltage supply 10 – 30 VDC, nominal voltage +24 VDCCurrent consumption 15 mA @24 VDCConnections – 5-pin M12 panel plug, A coded

(voltage supply + USB)– 5-pin M12 panel connector male, A coded

(CAN bus)– 5-pin M12 panel connector female, A coded

(CAN bus)Short term bias(whole temperature range)

< 0.1 °/s

Short term bias (constant temperature) < 0.01 °/sBias instability 5 °/hrNon-linearity scaling factor < ± 0,3 % (covering complete measuring range)Angular random walk Typ. 0.4 °/

Table 34 Technical datahr

Device Description HG G-84300ZC | English, Revision 07 | Date: 09.05.2018_

30 Chapter 9 – List Of Pictures

9 List Of Pictures

Figure 1 Photo HG G-84300ZC....................................................................................................................................... 6

Figure 2 Sketch: Measuring axis .................................................................................................................................... 7

Figure 3 Sketch: Dimensions of the casing (in mm) / Mounting Drill holes ............................................... 7

Figure 4 Drift compensation process.........................................................................................................................10

Figure 5 Angle reset process .........................................................................................................................................11

Figure 6 Connection example: USB connection with a PC..............................................................................12

Figure 7 Screenshot: Terminal output in monitor mode / CAN Standard.................................................14

Figure 8 Screenshot: Drift compensation via monitor program....................................................................14

Figure 9 Screenshot: Terminal output in monitor mode / CANopen® .......................................................15

Figure 10 Firmware Update – Choose file .................................................................................................................17

Figure 11 Firmware Update – Start update...............................................................................................................17

Figure 12 Firmware Update – Leave DFU Mode.....................................................................................................18

Figure 13 Format of the angle output bytes..............................................................................................................20

Device Description HG G-84300ZC | English, Revision 07 | Date: 09.05.2018_

31List Of Tables – Chapter 10

10 List Of Tables

Table 1 Pin assignment X1 (PWR/USB) ....................................................................................................................8

Table 2 Pin assignment X2 (CAN) ................................................................................................................................8

Table 3 Pin assignment X3 (CAN) ................................................................................................................................8

Table 4 Functions of the LEDs.......................................................................................................................................9

Table 5 How to react in case of an error ...................................................................................................................9

Table 6 CAN: Structure of the CAN receiving box ............................................................................................. 19

Table 7 CAN: Structure of the command byte ....................................................................................................19

Table 8 CAN: Structure of the CAN transmitter box.........................................................................................20

Table 9 CAN: Structure of the system status byte............................................................................................. 20

Table 10 CANopen®: Structure of the transmission box ..................................................................................21

Table 11 CANopen®: Structure of the system status .........................................................................................22

Table 12 CANopen®: Structure reception box....................................................................................................... 22

Table 13 CANopen®: Structure of a command.....................................................................................................22

Table 14 CANopen®: Heartbeat device mode ....................................................................................................... 22

Table 15 CANopen®: SDO error codes ..................................................................................................................... 23

Table 16 CANopen®: Overview of the object dir., communication specific entries in the range 0x1000 to 0x1FFF............................................................................................................................................ 23

Table 17 CANopen®: Overview of the object dir., stand. device profile range from 0x6000........... 25

Table 18 CANopen®: Device Type ..............................................................................................................................25

Table 19 CANopen®: Error Register ........................................................................................................................... 25

Table 20 CANopen®: COB-ID SYNC message....................................................................................................... 25

Table 21 CANopen®: Device Name............................................................................................................................ 25

Table 22 CANopen®: Hardware Version................................................................................................................... 26

Table 23 CANopen®: Software Version .................................................................................................................... 26

Table 24 CANopen®: Producer Heartbeat Time ................................................................................................... 26

Table 25 CANopen®: Identity Object ......................................................................................................................... 26

Table 26 CANopen®: Receive PDO Parameter .....................................................................................................26

Table 27 CANopen®: Mapping RPDO_1 ..................................................................................................................27

Table 28 CANopen®: Transmit PDO_1 Parameter ..............................................................................................27

Table 29 CANopen®: Mapping TxPDO_1 ................................................................................................................ 27

Table 30 CANopen®: 8 Bit Digital Input (transmitted in TxPDO 1)...............................................................28

Table 31 CANopen®: 16 Bit Analog Inputs (transmitted in TxPDO 1) ........................................................ 28

Table 32 CANopen®: 32 Bit Analog Inputs (transmitted in TxPDO 1) ........................................................ 28

Table 33 CANopen®: 8 Bit Life Counter (transmitted in TxPDO 1) .............................................................. 28

Table 34 Technical data ...................................................................................................................................................29

32 Chapter 11 – Index

11 Index

Aangle.......................................................................................................6angle measurement ............................................................. 10, 11Angle reset .......................................................................................11Angle reset process......................................................................11Angular random walk ..................................................................29axis ..........................................................................................................6

BBias ......................................................................................................29

CCAN.................................................................................................9, 19

angle output bytes................................................................20Command.................................................................................19Receiving Box.........................................................................19Standard....................................................................................14Status Bit ..................................................................................20Transmitter Box .....................................................................20

CANopen®................................................................................ 15, 21Command.................................................................................22Communication Specific Entries ...................................23Heartbeat device mode......................................................22Object Directory.....................................................................23Operational .................................................................................9PDO.............................................................................................21Preoperational ...........................................................................9Process Data Objects..........................................................21Reception Object ..................................................................22SDO.............................................................................................23SDO error codes....................................................................23Service Data Objects...........................................................23Standardized Device Profile Range ..............................25STOP..............................................................................................9system status..........................................................................22Transmission Objects..........................................................21

casing.....................................................................................................7COM Port ..........................................................................................13Comma Separated Values.........................................................16Company names............................................................................34Connection Box..............................................................................12Copyright...........................................................................................34cover plates.........................................................................................7CSV ......................................................................................................16

DData rate............................................................................................29DfuSE..................................................................................................17Dimensions .................................................................................7, 29drift.......................................................................................................10Drift Compensation .................................................................9, 10

EExclusion of Liability.....................................................................34

FFirmware Update...........................................................................16

HHG

20960 .........................................................................................12

Iinertial navigation system............................................................ 6

LLEDs ...................................................................................................... 9Logging ..............................................................................................16

MMaximum spin rate.......................................................................29Measuring Axis ................................................................................. 7MEMS ................................................................................................... 6Monitor Mode..................................................................................14Mounting ............................................................................................. 7mounting drill holes........................................................................ 7

OOutput.................................................................................................29

PParameter error ................................................................................ 9Pin Assignment ................................................................................ 8PLC...............................................................................................10, 11PWR....................................................................................................... 8

RResolution .........................................................................................29rotation axis........................................................................................ 6

SSENS ..................................................................................................... 9Set angle to 0 ..................................................................................11spreadsheet applications ...........................................................16symbols ................................................................................................ 5SYS......................................................................................................... 9

TTechnical Data ................................................................................29telegram.............................................................................................20Temperature range.......................................................................29terminal program...........................................................................13terminating resistor ........................................................................ 8terminator ........................................................................................... 8


33Index – Chapter 11

trade marks...................................................................................... 34

UUSB ..................................................................................................... 12

Vvehicle controller........................................................................... 10virtual COM Port driver............................................................... 12

WWeight................................................................................................29

XX1 ....................................................................................................8, 12X2 ............................................................................................................8X3 ............................................................................................................8



34 Chapter 12 – Copyright and Terms of Liability

12 Copyright and Terms of Liability

12.1 CopyrightThis manual is protected by copyright. All rights reserved. Violations are subject to penal leg-islation of the Copyright.

12.2 Exclusion of LiabilityAny 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 characteristics 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 consequential defects is excluded. We reserve the right for changes encouraging technical improvements. We also reserve the right to change the contents of this manual without having to give no-tice to any third party.

12.3 Trade Marks and Company NamesUnless stated otherwise, the herein mentioned logos and product names are legally protect-ed trade marks of Götting KG. All third party product or company names may be trade marks or registered trade marks of the corresponding companies.


35Copyright and Terms of Liability – Chapter 12

Innovation through GuidanceGötting KGCeller Str. 5 | D-31275 LehrteTel. +49 (0) 5136 / 8096 -0Fax +49(0) 5136 / 8096 [email protected] | www.goetting-agv.com

www.goetting-agv.com

mailto:[email protected]




Documents

Gyroscope HG G-84300ZC · Gyro can perform a Drift Compensation whenever the vehicle is not moving. It then calcu-lates the amount of the current drift and – when the vehicle is