HG G B. Gyroscope. Gyro for AGV. Device Description HG G B. Innovation through Guidance. Autonomous Vehicles

Transcription

1 Device Description HG G B Autonomous Vehicles Gyroscope HG G B Gyro for AGV English, Revision 06 Date: Dev. by: MG/WM/Bo Author(s): RAD Innovation through Guidance

2 2 Overview HG G B Summary Characteristics of the Gyro HG G B: Output: Angle, 0 360, resolution 0.01 Data rate of measurement output: 1 to 100 Hz Maximum spin rate: 300 /s Interfaces: CAN (angle output as radian) & RS 232 (angle output in degrees) Compact, light weight IP65 casing Robust (no moving parts) Wide operating temperature range from -40 to +70 C Long lifetime(> 100,000 h), maintenance free 2017 Götting KG, errors and modifications reserved. The Götting KG in D Lehrte has a certified quality management system according to ISO 9001.

3 Table of Contents HG G B 3 Content 1 About this Document Introduction Hardware Alignment of the Measuring Axis Dimensions Pin Assignment X1 (PWR/RS232) X2 (CAN) X3 (CAN) LEDs Drift Compensation / Angle Reset Drift Compensation Angle reset Configuration via the RS 232 Interface Data Output (Transparent Mode) Data Input (Transparent Mode) Resetting the Angle Activation and Deactivation of Drift Compensation Changing To Monitor Mode Terminal Output In Monitor Mode Software Update CAN Bus Interface Receiving Box Transmitter Box Technical Data List Of Pictures List Of Tables Copyright and Terms of Liability Copyright Exclusion of Liability Trade Marks and Company Names...21

4 4 Chapter 1: About this Document HG G B 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 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).

5 Chapter 2: Introduction HG G B 5 2 Introduction The Gyro HG G B measures the angle of one axis and permanently outputs this angle via its interfaces, CAN and RS 232. This information can be used by a superordinate 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 B The device is based on the latest generation of the MEMS technology. Compared to other gyroscopes, it offers the advantages of reduced noise, less drift, unexcelled robustness and long durability. In addition to the high quality technology the Gyro offers an integrated Drift Compensation algorithm, that can be used to further increase the accuracy of the angle measurement (see section 4.1 on page 9).

6 6 Chapter 3: Hardware HG G B 3 Hardware 3.1 Alignment of the Measuring Axis Figure 2 Sketch: Measuring axis + - X The angle measurement for X increases when the Gyro is rotated counterclockwise 3.2 Dimensions Drill hole for mounting approx. 80 Drill hole for mounting Figure 3 Sketch: Dimensions of the casing (in mm)

7 Chapter 3: Hardware 3.3 Pin Assignment HG G B 7 Note There is no terminating resistor (terminator) for the CAN bus in the device! X1 (PWR/RS232) 5-pin M12 panel plug (A coded) Table 1 Pin Signal Description 1 +Ub (24V) supply voltage 2 IN1 *) activate drift compensation *) 3 TxD RS232 data output 4 RxD RS232 data input 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 9). May only be carried out when the vehicle is not moving. Pin assignment X1 (PWR/RS232) X2 (CAN) 5-pin M12 panel plug (A coded) Pin Signal Description 1 shield (chassis) ground casing 2 +Ub (24V) supply voltage 3 GND supply ground 4 CAN_H CAN high 5 CAN_L CAN low Table 2 Pin assignment X2 (CAN) X3 (CAN) 5-pin M12 panel plug socket (A coded) Table 3 Pin Signal Description 1 shield (chassis) ground casing 2 +Ub (24V) supply voltage 3 GND supply ground 4 CAN_H CAN high 5 CAN_L CAN low Pin assignment X3 (CAN)

8 8 Chapter 3: Hardware HG G B 3.4 LEDs Table 4 LED Description PWR Supply voltage OK RUN Blinking measurement active Lit constantly drift compensation active ERR Blinking error, see Table 8 on page 17 Functions of the LEDs

9 Chapter 4: Drift Compensation / Angle Reset HG G B 9 4 Drift Compensation / Angle Reset 4.1 Drift Compensation Inherent to the technology of the Gyro is a constant drift. This drift depends on different variables and thus 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 calculates 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 whenever the vehicle stands. 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 following angle measurement! Vehicle has to stand still Vehicle controller (e.g. PLC) sets input (RS 232) / bit (CAN) Activate Drift Compensation to CAN only: Gyro sets bit Drift Compensation OK to Gyro sets output (RS 232) / bit (CAN) Drift Compensation active to 0 Time Figure 4 Duration of drift compensation: Drift compensation process - Right after startup of device: Up to several minutes - During normal operation: Approx. 10 sec Use the inputs (RS 232, on page 12 / CAN, 6.1 on page 16) to let the vehicle controller (e.g. PLC) tell the Gyro to activate the drift compensation calculation whenever the vehicle is not moving. The PLC can check that drift compensation is active via the corresponding outputs and LED. When using CAN, you can then wait for the Gyro to signal the successful

10 10 Chapter 4: Drift Compensation / Angle Reset HG G B completion of the drift compensation via the Status Byte (see 6.2 on page 17). Let the PLC turn off drift compensation either when the OK signal comes or after a defined interval but 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 reset The 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 current angle calculation. However it may be desirable to reset the angle to 0 o whenever the vehicle crosses a defined point on a course. In order to do so, use the vehicle controller (e.g. PLC) to trigger the Set angle to 0 command (RS 232, on page 11 / CAN, 6.1 on page 16). Vehicle controller (e.g. PLC) sets input (RS 232) / bit (CAN) Set angle to 0 to CAN only: Gyro sets bit Angle set to 0 to Time Figure 5 Angle reset process Via RS 232 you only trigger the command and the angle reset is performed immediately, you don t need to reset the command afterwards. Via CAN, set the corresponding bit to 1, which also immediately sets the response in the status bit to 1 (see 6.2 on page 17) and thus resets the angle. Then set the trigger bit back to 0 until you want to reset the angle again. The status bit remains set until the trigger bit is reset.

11 Chapter 5: Configuration via the RS 232 Interface HG G B 11 5 Configuration via the RS 232 Interface After turning on, the device is set to the mode transparent data output. The preset standard parameters for the interface are: baud, 8 data bit, no parity, 1 stopbit, ANSI emulation 5.1 Data Output (Transparent Mode) The angle in degrees and the drift compensation offset value (see section 4.1 on page 9) are output as text cyclically. The data output rate is adjustable, see chapter 5.4 on page 13. The values are separated by a comma and each set of data is terminated by CR (carriage return) and LF (line feed). Figure 6 Normal data output Screenshot: Data output (transparent mode) Data output with drift compensation ON 5.2 Data Input (Transparent Mode) Resetting the Angle To reset the angle to 0 o (see section 4.2 on page 10), perform the following cycle once: 1 second silence on the transmitter link connected to Gyro Send 3x within 1 second to Gyro. 1 second silence on the transmitter link connected to Gyro Figure 7 Procedure for resetting angle

12 12 Chapter 5: Configuration via the RS 232 Interface HG G B Activation and Deactivation of Drift Compensation When the drift compensation (see section 4.1 on page 9) is active, an asterisk (*) can be found at the end of each line (see Figure 6 above). In order to activate and subsequently deactivate the function, perform the following cycle once for each: 1 second silence on the transmitter link connected to Gyro Send 3x within 1 second to Gyro. 1 second silence on the transmitter link connected to Gyro Figure 8 Procedure for activating and deactivating the drift compensation 5.3 Changing To Monitor Mode The monitor mode is proceeded using the serial interface RS232. In the following, we refer to the program HyperTerminal (Hyperterm.exe), which is included in the scope of supply of most versions of Microsoft Windows or can be obtained from Link Any other terminal program, that is capable of dealing with ANSI emulation, can be used as well. If another programs is used, please read the included documentation and set the aforementioned interface parameters (see Seite 11). In order to enter the monitor mode, the following steps have to be followed: 1 second silence on the transmitter link connected to Gyro Send 3x within 1 second to Gyro. 1 second silence on the transmitter link connected to Gyro Figure 9 Procedure for starting the monitor mode

13 Chapter 5: Configuration via the RS 232 Interface 5.4 Terminal Output In Monitor Mode HG G B 13 Figure 10 Screenshot: Terminal output in monitor mode 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 Activate or deactivate drift compensation Data rate of output (value range: 1 to 100 [x 10ms]) RS232 baudrate (9600, 19200, 38400, 57600, baud) After changing these parameters, the system has to be reset. CAN configuration (currently only CFG 1) CAN baudrate (125 kbit/s, 250 kbit/s, 500 kbit/s, 1 Mbit/s) CAN identifier for receiver box (see 6.1 on page 16) CAN identifier for transmitter box (see 6.2 on page 17) Max change comp.: Threshold for drift compensation calculation If this value is > 0 then the CAN bit Drift compensation ok (see 6.2 on page 17) is set, once the calculated current drift (shown as Offset ) falls below this value. If this value is = 0 the CAN bit Drift compensation ok function is deactivated and the bit will only be used for a possible error message. Preset drift compensation: If this is set to ON, the gyro starts a drift compensation calculation (see 4.1 on page 9) automatically each time it is turned on. As soon as the vehicle controller (e.g. PLC) sends the first telegram, the drift compensation state is set according to the telegram content. Save parameter, necessary to permanently apply changed values Update software (see chapter 5.5 on page 14)

14 14 Chapter 5: Configuration via the RS 232 Interface HG G B Log data, return to Transparent data output 5.5 Software Update The firmware files have to match the variant of the device and partly even the case of application, so the Götting KG provides the firmware files directly on demand. The update procedure can be started directly from the terminal output (see chapter 5.4 on page 13) with. Then the update is carried out in the following steps: Step 1 Figure 11 Screenshot: Terminal output after starting the software update Step 2 Figure 12 Screenshot: Select menu item for transferring file Step 3 Figure 13 Screenshot: New window for entering the file name

15 Chapter 5: Configuration via the RS 232 Interface Step 4 HG G B 15 Figure 14 Screenshot: Choose file Step 5 Figure 15 Screenshot: File is now chosen Step 6 Figure 16 Screenshot: Status window during data transmission with Xmodem Step 7 Figure 17 Screenshot: Terminal output after data transmission

16 16 Chapter 6: CAN Bus Interface HG G B 6 CAN Bus Interface Annotations: Angle: radian Temperature: Value shown = Temperature in o C 6.1 Receiving Box Length: 8 byte. This is the telegram that is sent from the vehicle controller (e.g. PLC) to the Gyro. Table 5 Table 6 Byte Data 1 Command, see Table 6 below Structure of the CAN receiving box Annotations for Command: Bit Description 1 De-/Activate drift compensation (see 4.1 on page 9) 2 Set angle to 0 (see 4.2 on page 10) Structure of the command byte

17 Chapter 6: CAN Bus Interface 6.2 Transmitter Box Length: 8 Byte. This is the response telegram, that the Gyro sends. HG G B 17 Table 7 Byte Data 1 Byte 1 Angle 2 Byte 2 Angle Floating-Point Number according to IEEE 754, see Figure 18 below 3 Byte 3 Angle Unit: radian 4 Byte 4 Angle 5 Lowbyte Temperature Value = Temperature in o C 6 Highbyte Temperature 8 7 System status, see Table 8 below 8 Cycle counter Structure of the CAN transmitter box IEEE 754 Floating-Point Number Figure 18 Table 8 Format of the angle output bytes Status Bit Description 1 Value 1 Drift compensation active 2 Value 1 Confirmation: angle set to This bit can have two meanings: 1. Drift compensation ok (this function can be influenced and deactivated via Max change comp., see 5.4 on page 13) 2. Error of calibrating data scale *) If this bit returns the value 1, check whether bit 1 Drift compensation active also returns the value 1. Then wait until bit 1 switches to 0. If bit 5 still stays at 1 you know that the error message is reported. Otherwise it should also toggle to 0. 6 Error MEMS *) 7 Error Temperature calibration *) 8 Error parameter *) *) = If any of these 4 error bits returns the value 1 or the ERR LED is on the Gyro has to be sent to the Götting KG for service. Structure of the system status byte

18 18 Chapter 7: Technical Data HG G B 7 Technical Data Technical Data Table 9 Angle output 0 to 360 Resolution 0.01 Maximum spin rate Data rate ± 300 /s 1 to 100 Hz (10 ms to 1 s) Interfaces CAN and RS 232 Dimensions Weight Casing Mounting Protection class Temperature range (operation) Temperature range (storage) Relative air humidity at 25 o C MTBF 100 x 70 x 50/80 mm L x W x H without/with connector (see Figure 3 on page 6) approx. 770 g aluminium die casing passage in casing matches screws M4 IP65-40 to + 70 C -55 to + 85 C 95% (without bedewing) >100,000 h Voltage supply 24 V ±25% Current consumption 40 ma Connections 5-pin M12 panel plug, A coded (voltage supply + RS 232) 5-pin M12 panel plug, A coded (CAN bus) 5-pin M12 panel socket, A coded (CAN bus) Short term bias (changing temperature) < 0.1 /s Short term bias (constant temperature) < 0.01 /s Bias instability Nonlinearity of scaling factor (over whole measurement range) 5 /hr < ± 0.3 % Angular random walk < 0.3 / Technical data hr

19 Chapter 8: List Of Pictures HG G B 19 8 List Of Pictures Figure 1 Photo HG G B...5 Figure 2 Sketch: Measuring axis...6 Figure 3 Sketch: Dimensions of the casing (in mm)...6 Figure 4 Drift compensation process...9 Figure 5 Angle reset process...10 Figure 6 Screenshot: Data output (transparent mode)...11 Figure 7 Procedure for resetting angle...11 Figure 8 Procedure for activating and deactivating the drift compensation...12 Figure 9 Procedure for starting the monitor mode...12 Figure 10 Screenshot: Terminal output in monitor mode...13 Figure 11 Screenshot: Terminal output after starting the software update...14 Figure 12 Screenshot: Select menu item for transferring file...14 Figure 13 Screenshot: New window for entering the file name...14 Figure 14 Screenshot: Choose file...15 Figure 15 Screenshot: File is now chosen...15 Figure 16 Screenshot: Status window during data transmission with Xmodem...15 Figure 17 Screenshot: Terminal output after data transmission...15 Figure 18 Format of the angle output bytes...17

20 20 Chapter 9: List Of Tables HG G B 9 List Of Tables Table 1 Pin assignment X1 (PWR/RS232)... 7 Table 2 Pin assignment X2 (CAN)... 7 Table 3 Pin assignment X3 (CAN)... 7 Table 4 Functions of the LEDs... 8 Table 5 Structure of the CAN receiving box...16 Table 6 Structure of the command byte...16 Table 7 Structure of the CAN transmitter box...17 Table 8 Structure of the system status byte...17 Table 9 Technical data...18

21 Chapter 10: Copyright and Terms of Liability HG G B Copyright and Terms of Liability 10.1 Copyright This manual is protected by copyright. All rights reserved. Violations are subject to penal legislation of the Copyright 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 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 notice to any third party 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.

22 Innovation through Guidance Götting KG Celler Str. 5 D Lehrte Tel. +49 (0) 5136 / Fax +49(0) 5136 / info@goetting-agv.com