Gyroscope HG G-84300ZC...Gyroscope HG G-84300ZC Gyro for AGV English, Revision 08 Date: 28.05.2020...

Gyroscope

HG G-84300ZCGyro for AGV

English, Revision 08 Date: 28.05.2020 Entw. von: LM Autor(en): 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 08 | Date: 28.05.2020

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)

© 2020 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........................................................................ 51.0.1 Warning Notices ............................................................................................................... 51.0.2 Symbols ............................................................................................................................... 6

2 Introduction....................................................................................... 7

3 Hardware ........................................................................................... 83.1 Alignment of the Measuring Axis..................................................................................... 83.2 Dimensions ............................................................................................................................. 83.3 Mounting ................................................................................................................................. 83.4 Pin Assignment...................................................................................................................... 93.4.1 X1 (PWR/USB) ................................................................................................................... 93.4.2 X2 (CAN) .............................................................................................................................. 93.4.3 X3 (CAN) .............................................................................................................................. 93.5 LEDs ........................................................................................................................................103.6 Error Messages .................................................................................................................... 11

4 Drift Compensation / Angle Reset ................................................. 124.1 Drift Compensation ............................................................................................................ 124.2 Angle reset ............................................................................................................................13

5 Configuration via USB .................................................................... 145.1 USB Interface .......................................................................................................................145.2 Terminal Program ............................................................................................................... 145.3 Terminal Output In Monitor Mode ................................................................................. 155.3.1 Terminal Output for CAN Standard .......................................................................... 155.3.2 Terminal Output for CANopen®................................................................................. 165.4 Logging (CSV) ......................................................................................................................175.5 Firmware Update ................................................................................................................17

6 CAN Bus Interface .......................................................................... 206.1 Receiving Box ......................................................................................................................206.2 Transmitter Box ................................................................................................................... 21

7 CANopen® Interface ....................................................................... 227.1 Description of the Process Data Objects (PDOs) ...................................................... 227.1.1 Transmission Objects ....................................................................................................227.1.2 Reception Object ............................................................................................................ 237.2 Heartbeat ............................................................................................................................... 237.3 Description of the Service Data Objects (SDOs) ....................................................... 247.4 Object Directory .................................................................................................................. 247.4.1 Communication Specific Entries ............................................................................... 247.4.2 Standardized Device Profile Range .......................................................................... 267.4.3 CANopen® Object Dictionary ..................................................................................... 267.4.3.1 Device Type ................................................................................................................. 267.4.3.2 Error Register .............................................................................................................. 267.4.3.3 COB-ID SYNC message ............................................................................................ 277.4.3.4 Device Name ............................................................................................................... 277.4.3.5 Hardware Version....................................................................................................... 277.4.3.6 Software Version ........................................................................................................ 277.4.3.7 Producer Heartbeat Time ........................................................................................277.4.3.8 Identity Object............................................................................................................. 277.4.3.9 Receive PDO Parameter........................................................................................... 287.4.3.10 Mapping RPDO_1....................................................................................................... 287.4.3.11 Transmit PDO_1 Parameter .................................................................................... 28


4 Table of Contents

7.4.3.12 Mapping TxPDO_1 .....................................................................................................297.4.3.13 8 Bit Digital Input (transmitted in TxPDO 1) ......................................................297.4.3.14 16 Bit Analog Inputs (transmitted in TxPDO 1).................................................297.4.3.15 32 Bit Analog Inputs (transmitted in TxPDO 1).................................................297.4.3.16 8 Bit Life Counter (transmitted in TxPDO 1) ......................................................30

8 Technical Data .................................................................................31

9 List Of Pictures................................................................................32

10 List Of Tables ..................................................................................33

11 Index ................................................................................................34

12 Copyright and Terms of Liability....................................................3612.1 Copyright ...............................................................................................................................3612.2 Exclusion of Liability ..........................................................................................................3612.3 Trade Marks and Company Names ...............................................................................36


5About this Document – Chapter 1

1 About this Document

For you to be able to use your product simply and safely this device description usesconsistent warning notices, symbols, terms and abbreviations. Those are describedin the following sections.

1.1 Warning NoticesIn this device description warning notices appear before sequences of actions thatmay lead to damage to persons or property. The listed actions for the danger preven-tion have to be observed.

Warning notices have the following structure:

The warning symbol (warning triangle) indicates danger to life or risk of injury.

The signal word indicates the severity of the danger.

The paragraph kind or source of the danger names the kind or source of the danger.

The paragraph consequences describes the consequences of not observing the warning notice.

The paragraphs for danger prevention explain, how to avoid the danger.

The signal words have the following meanings:

SIGNAL WORDKind or source of the dangerConsequences Danger prevention

Table 1 Hazard classification according to ANSI Z535.6-2006

Warning Symbol, Signal Word Meaning

DANGERDANGER indicates a hazardous situation which, if not avoided, will result in death or serious injury.

WARNINGWARNING indicates a hazardous situation which, if not avoided, could result in death or serious injury.

CAUTIONCAUTION indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.

NOTICENOTICE indicates property damage: The product or the environment could be dam-aged.


6 Chapter 1 – About this Document

1.2 SymbolsIn this device description the following symbols and formatting are used:

If this information is ignored,the product may not be operated in an optimal way.

Indicates one or more links to the Internet.

– www.goetting.de/xxx

– www.goetting.de/yyy

Indicates tips for easieroperation of the product.

The check mark lists a requirement.

The arrow shows an action step.

The indentation shows the result of an action or an action sequence.

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

Menu items and parameters are shown in cursive characters.

Whenever the pressing of letter keys is required for program entries, the required etter eys are indicated as such (for any programs of Götting KG small and capital letters are equally working).


7Introduction – Chapter 2

2 Introduction

The Gyro HG G-84300ZC measures the angle of one rotation axis and permanentlyoutputs this angle via its interface, CAN/CANopen®. This information can be usedby a superordinate vehicle controller (not part of the scope of supply) to calculate thecurrent position of all types of vehicles, thus using the Gyro as part of an inertial nav-igation system.

Figure 1 Photo HG G-84300ZC

The device is based on the latest generation of the MEMS technology. Compared toother gyroscopes, it offers advantages like cost-performance ratio, low current con-sumption, excellent robustness and long durability. In addition to the high qualitytechnology the Gyro offers an integrated Drift Compensation algorithm, that can beused to further increase the accuracy of the angle measurement (see section 4.1 onpage 12).


8 Chapter 3 – Hardware

3 Hardware

3.1 Alignment of the Measuring AxisFigure 2 Sketch: Measuring axis

3.2 DimensionsFigure 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 mountingdrill holes can be reached (see picture above). When the gyro is mounted, the coverplates 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


9Hardware – Chapter 3

3.4 Pin Assignment

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)

Table 2 Pin assignment X1 (PWR/USB)

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 com-pensation (see section 4.1 on page 12). May only be started when the vehicle is not moving!

Table 3 Pin assignment X2 (CAN)


1 shield (chassis) ground casing


3 GND supply ground

4 CAN_H CAN high

5 CAN_L CAN low

Table 4 Pin assignment X3 (CAN)


1 shield (chassis) ground casing


3 GND supply ground

4 CAN_H CAN high

5 CAN_L CAN low


10 Chapter 3 – Hardware

3.5 LEDsThe CAN LED has a different meaning depending on whether the CAN mode is setto CAN Standard or CANopen® (see section 5.3 on page 15).

Table 5 Functions of the LEDs

LED Mode Color / Frequency Meaning

SYS Green / Steady light Normal operation

Red / Blinking Parameter error (s. Table 6)

SENS Green / Blinking Measuring active

Yellow / Flickering Drift compensation active

Green / Flickering Drift compensation completed

CAN CANStandard

Green / Steady light Communication OK

Red / Blinking Communication error (s. Table 6)

CANopen® Green / Flashing State: STOP

Green / Blinking State: Preoperational

Green / Steady light State: Operational

Red / Blinking Communication error (s. Table 6)


11Hardware – Chapter 3

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

Table 6 How to react in case of an error

Error Description Reaction

Parameter error Error in the parameter memory when starting the firmware program

– Start the monitor program (s. sec-tion 5.3 on page 15) and save the parameters

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

– If the error continues to happen after the re-start send the Gyro to the Götting service 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 15)

– 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 part-ners on the CAN bus

– If the error can not be eliminated send the Gyro to the Götting ser-vice department


12 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 vari-ables and changes over time. In order to reduce the effect of the drift on the anglecalculation, the Gyro can perform a Drift Compensation whenever the vehicle is notmoving. It then calculates the amount of the current drift and – when the vehicle ismoving again – compensates the influence of this drift.

As the accuracy of the angle measurement improves drastically when the Gyro canuse drift compensation it is advisable to let it perform the compensation calculationas often as possible.

Figure 4 Drift compensation process

Using the inputs the vehicle controller (e.g. PLC) can tell the Gyro to activate the driftcompensation calculation whenever the vehicle is not moving. The PLC can thencheck that drift compensation is active via the corresponding outputs. The user seesit from a LED. The PLC then waits until the Gyro signals via the CAN Status Byte thatthe drift compensation calculation is completed.

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

NOTICEIncorrect Drift CompensationIf drift compensation is turned on while the vehicle is moving an incorrect drift compensation is calculated, thus deteriorating the following angle measurement. Make sure that drift compensation is turned off whenever the vehicle is

moving (see below).

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


13Drift Compensation / Angle Reset – Chapter 4

4.2 Angle resetThe drift changes the absolute angle measurement over time. That means that if thevehicle crosses the same place again after some time, the absolute angle output willbe different from the last time. This doesn‘t influence the validity of the actual anglecalculation. However it may be desirable to reset the angle to 0o when the vehiclereaches 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 inthe status bit to 1. At the same time the Gyro resets the angle. Then set the CAN bitback to 0 until you want to reset the angle again. The status bit remains set as longsas 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


14 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 PCneeds to have a USB interface.

Figure 6 Connection example: USB connection with a PC

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

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 pro-grams (see below) that are used for RS 232 connections. Usually the virtual COMPort driver is installed automatically in current versions of Microsoft® Windows®.

If the Gyro is not automatically detected as a virtual COM port after establishing theconnection the STM32 Virtual COM Port Driver (STSW-STM32102) has to be in-stalled manually.

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

5.2 Terminal ProgramEvery compatible terminal program that supports the ANSI emulation can beused. Examples are HyperTerminal® and Tara Term®. HyperTerminal used to be partof the scope of supply of earlier versions of Microsoft® Windows®. Additionally itcan be downloaded from the following address:

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 accord-ing to section 5.3 on page 15 appears in the terminal program.

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

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

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


15Configuration via USB – Chapter 5

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.

5.3 Terminal Output In Monitor ModeThe terminal output is different depending on whether the CAN interface is set toCAN 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 13)

Activate or deactivate drift compensation (see 4.1 on page 12)

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

The following screenshot shows the drift compensation process inside the monitorprogram. A percentage value counts up to 100 % then the drift is below the setthreshold defined by the parameter Drift margin (see below) and the drift compen-sation can be deactivated 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 startvalue

Save parameters permanently, necessary after each change

Update software, see section 5.5 on page 17

Log data (CSV), see section 5.4 on page 17

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 13)

Activate or deactivate drift compensation (see 4.1 on page 12), the sequence asanalog to what happens with CAN Standard, see section 5.3.1 on page 15

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 startvalue

Save parameters permanently, necessary after each change

Update software, see section 5.5 on page 17

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 out-puts structured data every 100 ms. Each line consists of several sections (columns)that are divided by commas. Using the terminal program those values can be writteninto a file (recorded). The structure of the file conforms to the CSV format (CommaSeparated Values), which can be imported into and analyzed in spreadsheet applica-tions like Microsoft® Excel®.

The data is output as ASCII characters. The lines are closed with <CR LF>. Each lineconsecutively 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,

Sensor Status 2,

Sensor Status 3,

Sensor Status 4,

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 15).

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 softwareDfuSe by ST Microelectronics. You can get the firmware file upon request from Göt-ting. The software DfuSE is available from the following address:




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 startthe monitor program again.

Leave DFU modeand Quit the program

Verify successful showsthat the update was successful


20 Chapter 6 – CAN Bus Interface

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:

Table 7 CAN: Structure of the CAN receiving box

Byte Data

1 Command, see Table 8 below

2

–

3

4

5

6

7

8

Table 8 CAN: Structure of the command byte

Bit Description

1 De-/Activate drift compensation (see 4.1 on page 12)

2 Set angle to 0 (see 4.2 on page 13)

3

–

4

5

6

7

8

Value shown8

--------------------------------


21CAN Bus Interface – Chapter 6

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

Figure 13 Format of the angle output bytes

Table 9 CAN: Structure of the CAN transmitter box

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 10 below

8 Cycle counter

Table 10 CAN: Structure of the system status byte

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 15)

6–

7

8 Value 1 Parameter error, see section 3.6 on page 11

Value8

---------------

IEEE 754 Floating-Point Number


22 Chapter 7 – CANopen® Interface

7 CANopen® Interface

The Node-ID and the transmission rate have to be configured with the serial monitorprogram as described in section 5.3 on page 15.

The measurements of the system are transmitted via the so-called TxPDO. The de-vice 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 dynamicmapping is not implemented. The PDO operational mode can be set to cyclical, syn-chronous or asynchronous mode. In order to avoid a bus load being too high due toconstant changes during asynchronous mode with non-cyclical transmission (Eventtime = 0), the so-called Inhibit time can be set in the CAN menu of the serial monitor(see 5.3 on page 15). A PDO can also be transmitted cyclically, therefore the eventtime has to be chosen correspondingly 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 correspondingPDO-COB identifier, e.g. [1800,01] or [1801,01].

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

Table 11

Byte Data

1 Byte 1 angleFloating-Point Number according to IEEE 754, see Figure 13 on page 21Unit: radian

2 Byte 2 angle

3 Byte 3 angle

4 Byte 4 angle

5 Lowbyte temperature

6 Highbyte temperature

7 System status, see Table 12 on page 23

8 Transmission counter


23CANopen® Interface – Chapter 7

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 theCAN menu with each end of the heartbeat timer, the device mode is transmitted viathe identifier 0x700 + node address.

Table 12 CANopen®: Structure of the system status

Bit Meaning

1 Value 1 Drift compensation activated

2 Value 1 Acknowledgment: Angle set to 0o

3–

4

5 Value 1 Drift compensation ok (this function can be influenced via Drift Margin, see 5.3 on page 15)

6–

7

8 Value 1 Parameter error, see section 3.6 on page 11

Table 13 CANopen®: Structure reception box

Byte Data

1 Command, see Table 14

Table 14 CANopen®: Structure of a command

Bit Meaning

1 Value 1 Activate drift compensation

2 Value 1 Set angle to 0°

3

–

4

5

6

7

8

Table 15 CANopen®: Heartbeat device mode

Device mode Code

stopped 0x04

preoperational 0x7f

operational 0x05



7.3 Description of the Service Data Objects (SDOs)For accessing the object directory, a SDO is used. It is transferred with a confirma-tion, that means that each reception is confirmed with a message. The identifiers forread 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 causedby 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 entryis marked by a 16 bit index. Sub components are marked by a 8 bit subindex. ROmarks read-only entries.

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

Table 16 CANopen®: SDO error codes

Name Number Meaning

SDO_ABORT_UNSUPPORTED 0x06010000 Non-supported access to an object

SDO_ABORT_READONLY 0x06010001 Writing access to a Read only object

SDO_ABORT_NOT_EXISTS 0x06020000 Object is not implemented

SDO_ABORT_TRANSFER 0x08000020 At saving or loading of the param-eters the signature "save" resp. „load“ has not been used. At cali-bration the signature „cali“ has not been used.

SDO_ABORT_PARA_VALUE 0x06090030 Value range of parameters exceeded

SDO_ABORT_PARA_TO_HIGH 0x06090031 Value of parameter too high

Table 17 CANopen®: Overview of the object dir., communication specific entries in the range 0x1000 to 0x1FFF (part 1 of 3)

Communication specific entries in the range 0x1000 to 0x1FFF

Index Sub index Access Content EEProm

0x1000 0 RO Device Type

0x1001 0 RO Error Register

0x1005 0 RO COB ID Sync Message



0x1008 0 RO Number of Entries of Device Name

1 RO Device Name 1

2 RO Device Name 2

3 RO Device Name 3

0x1009 0 RO Hardware Version

0x100A 0 RO Software Version

0x1010 0 RO Number of entries of Save Parameter

1 RW Save all

0x1011 0 RO Number of entries of Restore Default Parameter

1 RW Restore Default all

2 RW Restore Default Communication Parameter

4 RW Restore Default Manufacture Param-eter

0x1017 0 RW Producer Heartbeat Time

0x1018 0 RO Number of entries of Identity Object

1 RO Vendor ID

2 RO Product Code

3 RO Revision

4 RO Serial Number

0x1400 0 RO Number of Entries of Receive PDO_1

1 RW* COB-ID

2 RO Transmission Type

0x1600 0 RO Number of Objects mapped to Receive PDO_1

1 RO Specification of Appl. Object 1

0x1800 0 RO Number of entries of Transmit PDO_1

1 RW* COB-ID

2 RW Transmission Type C

3 RW Inhibit Time C

5 RW Event Time C






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

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

0x1A00 0 RO Number of Objects mapped to Trans-mit PDO_1





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

Table 18 CANopen®: Overview of the object dir., stand. device profile range from 0x6000

Standardized Device Profile Range from 0x6000

Index Subindex Access Content

0x6000 0 RO Number of 8 bit digital inputs

1 RO System status

0x6200 0 RO Number of 8 bit digital outputs

1 RW Command

0x6401 0 RO Number of 16 bit analog inputs

1 RO Temperature

0x6403 0 RO Number of 32 bit analog inputs

1 RO Angle

0x6F20 0 RO Number 8 bit life counter

1 RO Transmission counter

Table 19 CANopen®: Device Type

Index Sub Index Name Type Attr. Map Default Meaning

0x1000 00 Device Type Unsigned 32 RO No 0x00050191 Digital/analog Inputs - DS 401

Table 20 CANopen®: Error Register


0x1001 00 Error Register Unsigned 8 RO No 0x00 Error Register






Always sends 0 (no error).

7.4.3.3 COB-ID SYNC message

7.4.3.4 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

Table 21 CANopen®: COB-ID SYNC message


0x1005 00 COB-ID SYNC Unsigned 32 RO No 0x80000080 Sync Consumer, Sync ID = 0x80

Table 22 CANopen®: Device Name

Index Subindex Name Type Attr. Map Default Meaning

0x1008 00 Device Name Vis.-String RO NO „8430“ „Name of the device“

Table 23 CANopen®: Hardware Version


0x1009 00 HardwareVersion

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

Table 24 CANopen®: Software Version


0x100A 00 SoftwareVersion

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

Table 25 CANopen®: Producer Heartbeat Time

Index Sub Index Name Typ Attr. Map Default Bedeutung

0x1017 00 ProducerHeartbeat Time

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

Table 26 CANopen®: Identity Object


0x1018 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 device

03 Revision Unsigned 32 RO No 0x00000001 Revision of the device

04 Serial Number Unsigned 32 RO No 84..... 7 digit serial number of the device



7.4.3.9 Receive PDO Parameter

7.4.3.10 Mapping RPDO_1

7.4.3.11 Transmit PDO_1 Parameter

Table 27 CANopen®: Receive PDO Parameter


0x1400 00 RxPDO_1Parameter

Unsigned 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 28 CANopen®: Mapping RPDO_1


0x1600 00 Number ofmapped objects

Unsigned 8 RO NO 1 Number of sub indexes

01 1st mappedobject

Unsigned 32 RO NO 0x62000108 Mapped to Index 0x6200,01 with 8 Bit length

Table 29 CANopen®: Transmit PDO_1 Parameter


0x1800 00 TxPDO_1Parameter

Unsigned 8 RO No 0x05 Number of sub indexes

01 COB ID Unsigned 32 RW No 0x40000180 +Node-ID

PDO_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 ms



7.4.3.12 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)

Table 30 CANopen®: Mapping TxPDO_1


0x1A00 00 Number ofmappedobjects

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


0x6000 00 number of 8 bitinputs

Unsigned 8 RO No 0x01 number of 8 bit inputs

01 8 bit digitalinput

Unsigned 8 RO Yes ./. System state / TxPDO_1

Table 32 CANopen®: 16 Bit Analog Inputs (transmitted in TxPDO 1)


0x6401 00 number of 16bit analoginputs

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

01 32 bit analoginput

Unsigned 16 RO Yes ./. Temperature

Table 33 CANopen®: 32 Bit Analog Inputs (transmitted in TxPDO 1)


0x6403 00 number of 32bit analoginputs

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

01 32 bit analoginput

Real 32 RO Yes ./. Angle



7.4.3.16 8 Bit Life Counter (transmitted in TxPDO 1)

Table 34 CANopen®: 8 Bit Life Counter (transmitted in TxPDO 1)


0x6F20 00 number of 8 bitLife Counter

Unsigned 8 RO No 0x01 number of 8 bit inputs

01 8 bit LifeCounter

Unsigned 8 RO Yes ./. Transmission counter


31Technical Data – Chapter 8

8 Technical Data

Table 35 Technical data

Technical Data

Output Angle, 0 to 360°

Resolution 0.01°

Maximum spin rate ± 300 °/s

Data rate 1 to 100 Hz(10 ms to 1 s)

Interfaces CAN/CANopen® and USB

Dimensions 100 x 70 x 50/80 mmL x W x H without/with connector(see Figure 3 on page 8)

Weight approx. 540 g

Casing aluminium die casing

Mounting passage in casing for screws M4

Protection class IP65

Temperature range (operation) -40 to +85° C

Temperature range (storage) -55 to +125° C

Relative air humidity at 25o C 95% (without bedewing)

MTBF >100,000 h

Voltage supply 10 – 30 VDC, nominal voltage +24 VDC

Current consumption 15 mA @24 VDC

Connections – 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 °/s

Bias instability 5 °/hr

Non-linearity scaling factor < ± 0,3 % (covering complete measuring range)

Angular random walk Typ. 0.4 °/ hr


32 Table of Contents

9 List Of Pictures

Figure 1 Photo HG G-84300ZC....................................................................................................................................... 7

Figure 2 Sketch: Measuring axis .................................................................................................................................... 8

Figure 3 Sketch: Dimensions of the casing (in mm) / Mounting Drill holes ............................................... 8

Figure 4 Drift compensation process.........................................................................................................................12

Figure 5 Angle reset process .........................................................................................................................................13

Figure 6 Connection example: USB connection with a PC..............................................................................14

Figure 7 Screenshot: Terminal output in monitor mode / CAN Standard.................................................15

Figure 8 Screenshot: Drift compensation via monitor program....................................................................16

Figure 9 Screenshot: Terminal output in monitor mode / CANopen®.......................................................16

Figure 10 Firmware Update – Choose file .................................................................................................................18

Figure 11 Firmware Update – Start update...............................................................................................................18

Figure 12 Firmware Update – Leave DFU Mode.....................................................................................................19

Figure 13 Format of the angle output bytes..............................................................................................................21


33List Of Tables – Chapter 10

10 List Of Tables

Table 1 Hazard classification according to ANSI Z535.6-2006 .................................................5

Table 2 Pin assignment X1 (PWR/USB)................................................................................................9

Table 3 Pin assignment X2 (CAN) ...........................................................................................................9

Table 4 Pin assignment X3 (CAN) ...........................................................................................................9

Table 5 Functions of the LEDs...............................................................................................................10

Table 6 How to react in case of an error ...........................................................................................11

Table 7 CAN: Structure of the CAN receiving box ........................................................................20

Table 8 CAN: Structure of the command byte ...............................................................................20

Table 9 CAN: Structure of the CAN transmitter box....................................................................21

Table 10 CAN: Structure of the system status byte........................................................................21

Table 11 .............................................................................................................................................................22

Table 12 CANopen®: Structure of the system status....................................................................23

Table 13 CANopen®: Structure reception box..................................................................................23

Table 14 CANopen®: Structure of a command................................................................................23

Table 15 CANopen®: Heartbeat device mode ..................................................................................23

Table 16 CANopen®: SDO error codes ................................................................................................24

Table 17 CANopen®: Overview of the object dir., communication specific entries in the range 0x1000 to 0x1FFF.............................................................................................24

Table 18 CANopen®: Overview of the object dir., stand. device profile range from 0x6000..................................................................................................................................26

Table 19 CANopen®: Device Type..........................................................................................................26

Table 20 CANopen®: Error Register ......................................................................................................26

Table 21 CANopen®: COB-ID SYNC message..................................................................................27

Table 22 CANopen®: Device Name .......................................................................................................27

Table 23 CANopen®: Hardware Version..............................................................................................27

Table 24 CANopen®: Software Version ...............................................................................................27

Table 25 CANopen®: Producer Heartbeat Time ..............................................................................27

Table 26 CANopen®: Identity Object ....................................................................................................27

Table 27 CANopen®: Receive PDO Parameter ................................................................................28

Table 28 CANopen®: Mapping RPDO_1 .............................................................................................28

Table 29 CANopen®: Transmit PDO_1 Parameter .........................................................................28

Table 30 CANopen®: Mapping TxPDO_1 ...........................................................................................29

Table 31 CANopen®: 8 Bit Digital Input (transmitted in TxPDO 1)..........................................29

Table 32 CANopen®: 16 Bit Analog Inputs (transmitted in TxPDO 1) ...................................29

Table 33 CANopen®: 32 Bit Analog Inputs (transmitted in TxPDO 1) ...................................29

Table 34 CANopen®: 8 Bit Life Counter (transmitted in TxPDO 1) .........................................30

Table 35 Technical data...............................................................................................................................31


34 Chapter 11 – Index

11 Index

Aangle.......................................................................................................7angle measurement ............................................................. 12, 13Angle reset .......................................................................................13Angle reset process......................................................................13Angular random walk ..................................................................31axis ..........................................................................................................7

BBias ......................................................................................................31

CCAN..............................................................................................10, 20

angle output bytes................................................................21Command.................................................................................20Receiving Box.........................................................................20Standard....................................................................................15Status Bit ..................................................................................21Transmitter Box .....................................................................21

CANopen®................................................................................ 16, 22Command.................................................................................23Communication Specific Entries ...................................24Heartbeat device mode......................................................23Object Directory.....................................................................24Operational ..............................................................................10PDO.............................................................................................22Preoperational ........................................................................10Process Data Objects..........................................................22Reception Object ..................................................................23SDO.............................................................................................24SDO error codes....................................................................24Service Data Objects...........................................................24Standardized Device Profile Range ..............................26STOP...........................................................................................10system status..........................................................................23Transmission Objects..........................................................22

casing.....................................................................................................8COM Port ..........................................................................................14Comma Separated Values.........................................................17Company names............................................................................36Connection Box..............................................................................14Copyright...........................................................................................36cover plates.........................................................................................8CSV ......................................................................................................17

DData rate............................................................................................31DfuSE..................................................................................................18Dimensions .................................................................................8, 31drift.......................................................................................................12Drift Compensation ..............................................................10, 12

EExclusion of Liability.....................................................................36

FFirmware Update...........................................................................17

HHazard classification ...................................................................... 5HG

20960 .........................................................................................14

Iinertial navigation system............................................................ 7

LLEDs ....................................................................................................10Logging ..............................................................................................17

MMaximum spin rate.......................................................................31Measuring Axis ................................................................................. 8MEMS ................................................................................................... 7Monitor Mode..................................................................................15Mounting ............................................................................................. 8mounting drill holes........................................................................ 8

OOutput.................................................................................................31

PParameter error ..............................................................................10Pin Assignment ................................................................................ 9PLC...............................................................................................12, 13PWR....................................................................................................... 9

RResolution .........................................................................................31rotation axis........................................................................................ 7

SSENS ...................................................................................................10Set angle to 0 ..................................................................................13spreadsheet applications ...........................................................17Symbols ............................................................................................... 6SYS.......................................................................................................10

TTechnical Data ................................................................................31telegram.............................................................................................21Temperature range.......................................................................31terminal program...........................................................................14terminating resistor ........................................................................ 9


35Index – Chapter 11

terminator............................................................................................9trade marks...................................................................................... 36

UUSB ..................................................................................................... 14

Vvehicle controller........................................................................... 12virtual COM Port driver............................................................... 14

WWarning Notices...............................................................................5Weight................................................................................................31

XX1 ....................................................................................................9, 14X2 ............................................................................................................9X3 ............................................................................................................9


36 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 topenal legislation of the Copyright.

12.2 Exclusion of LiabilityAny information given is to be understood as system description only, but is not tobe taken as guaranteed features. Any values are reference values. The product char-acteristics 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. Installa-tion, setup and operation of the device will be on the customer’s own risk. Liabilityfor consequential defects is excluded. We reserve the right for changes encouragingtechnical improvements. We also reserve the right to change the contents of thismanual without having to give notice to any third party.

12.3 Trade Marks and Company NamesUnless stated otherwise, the herein mentioned logos and product names are legallyprotected trade marks of Götting KG. All third party product or company names maybe trade marks or registered trade marks of the corresponding companies.


37Copyright and Terms of Liability – Chapter 12

Innovation through Guidance

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

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Gyroscope HG G-84300ZC...Gyroscope HG G-84300ZC Gyro for AGV English, Revision 08 Date: 28.05.2020...

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Transcript of Gyroscope HG G-84300ZC...Gyroscope HG G-84300ZC Gyro for AGV English, Revision 08 Date: 28.05.2020...