Inductive Track Guidance Antenna | Multifreq.
| Analog Output | Indoor HG G-19330-A
Guide Wire
Data Sheet
Operational Description Main Features
Inductive track guidance antenna for
Vehicle PLC / vehicle controller AGVs
Indoor usage IP 40
Frequency
Wire detect
Supply Detection of the electromagnetic
select
Upos
field (flux) in X- (horizontal) and Z-
Uref
voltage
direction (vertical)
+ –
Multifrequency: 8 preset frequen-
cies, selection of the desired fre-
Mounting bracket quency via 3 digital inputs (see table
(example) on the back)
Analog output -10 VDC to +10 VDC
Guidance Antenna
(Example: Horizontal mounting Guide wire detected signal (Detect)
Direction of travel with Binder connector) Connection: Cable tail 1.3 m or
Binder connector
Reading
distance Guide Wire (in the ground) Götting Product IDs (order codes)
HG G-19330ZA
Production series
Roadway / Ground (no functional relevance)
Functional Model / Version
For track guiding automated guided vehi- The digital Wire-Detect output switches to Identification Number / Type
G: Device | K: Component |
cles (AGV), inductive guidance systems +24 VDC if the induced Uref voltage exceeds S: System | W: Software
have proven to be very reliable. A frequency an adjustable threshold. The wire detect sig- HG: Götting | HW: Resale
generator feeds a current into a guidance nal is often used to stop the AGV in case it
wire installed in the ground. Along this wire drives off the track.
an alternating magnetic field is generated.
The inductive antenna detects the horizon- Sensor with Uref (0...+10VDC)
Horizontal flux strength
tal and vertical components of the magnetic set of cross coils
field by a specific set of coils. Upos (-10...+10VDC)
Vertical flux strength
Upos
When moving the antenna perpendicularly Uref Wire Detect
over the guide wire two characteristic volt- threshold (Usum)
ages are induced. The Uref (sum voltage) Uref
Wire Detect (0/+24VDC)
shows a bell shaped curve with a maximum
directly above the wire. The Upos (difference Magnetic
Guide Wire
voltage) shows maxima at both sides of the flux
wire and falls to zero directly above the wire.
Q = Upos Upos
The two output voltages can be used to de- Uref
termine the lateral deviation of the antenna For a linear output the quotient
of position voltage and reference voltage
from the wire. For a simple steering function can be used
connect Upos to the steering drive using a P-
controller.
Date: 29.11.2021 | Revision 07 / English | Author(s): RAD / GW
Product page: http://goetting-agv.com/components/19330
Götting KG, Celler Str. 5, D-31275 Lehrte, Germany
Innovation in Guidance Tel. +49(0)5136 / 8096-0, Fax -80, E-Mail
[email protected] www.goetting-agv.com
Inductive Track Guidance Antenna | Multifreq. | Analog Output | Indoor HG G-19330-A
Pin assignment Binder connector resp. Dimensions / Mounting
wire color of the cable tail
Casing dimensions 8 2
Pin Color Function All variants Variants with cable tail Variants with
5 4
98 3 1
1 Yellow F1 (Dig IN, +24VDC/open) 89
Binder connector
7 6
2 Grey F2 (Dig IN, +24VDC/open)
1.5
3 Pink F3 (Dig IN, +24VDC/open)
19
45
67
33
4 White UDifference
20
5 Brown USum
6 Green Wire Detect (Dig. OUT) Mounting Position above the guide wire Direction of travel
2x mounting holes ø5.2
7 Blue GND Variants with cable tail Variants with Binder connector
8 Red +24 VDC Vertical
Horizontal mounting mounting
Casing Braiding Shielding
Metal-free areas around the antenna
Direction Minimum area
distance
distance
distance
Reading
Reading
Reading
Left, right >= 75 mm 2x screwing antenna cover ø4.5
Guide wire Guide wire Guide wire
Front, rear >= 50 mm
Above (vehicle) >= 30 mm The antenna can be mounted with 2 screws. The alignment depends on the variant (see below). For mounting under the vehicle
we recommend the use of non-metallic mounting brackets (not included). Please note the metal-free areas listed on the left for
Underneath undisturbed signal processing.
No metal!
(reading side)
Frequency ranges and factory settings of the antenna variants HG G-19330xx
Frequency selection via the
Preset frequencies [Hz]1) 2) Wire Reading
digital inputs F1-F3 Variant current3) distance Connection Mounting
1 2 3 4 5 6 [mA] 7 [mm] 8
Dig. IN 1 2 3 4 5 6 7 8
F1 0 1 0 1 0 1 0 1 ZA 001 35
5100 5700 6300 7000 7800 9000 10000 12000 60 cable tail horizontal
ZA 002 100
F2 0 0 1 1 0 0 1 1
YA 1500 2000 2700 3500 4700 6300 6300 6300 450 70 cable tail horizontal
F3 0 0 0 0 1 1 1 1
XA 5100 5700 6300 7000 7800 9000 10000 12000 150 150 cable tail horizontal
Trimming & adjusting WA 001 35 Binder
5100 5700 6300 7000 7800 9000 10000 12000 60 horizontal
WA 002 100 connector
The antenna can be calibrated via the
TA 5500 7000 8400 10100 12200 15200 18100 26700 100 70 cable tail horizontal
potentiometers RT 1 to RT 5. To do this,
RA 5100 5700 6300 7000 7800 9000 10000 8550 100 60 cable tail horizontal
remove the antenna cover to be able to
PA 2200 5200 5700 6250 7000 8500 9000 10000 35 70 cable tail horizontal
reach the potentiometers with a small
NA 5500 7000 8400 10100 12200 15200 18100 26700 100 70 cable tail horizontal
screwdriver. The diagrams on the right
KA 2412 3108 4040 5213 6216 5100 5700 6300 100 50 cable tail horizontal
show which values influence the potenti-
1) Other variants with frequencies from the range 1 Hz to 26700 Hz are available on request.
ometers. 2) For selection of frequencies via the digital inputs, see box on the left.
3) Wire current and reading distance are variable. Double wire current = double reading distance and vice versa.
Wire Detect (dig. OUT): The threshold for USum for wire detect is factory set to 50% (= 5 VDC).
Sensitivity (max value and curve steepness) Offset Switching point of Wire Detector
Please note that the maximum
output voltage ranges can not
+10VDC
be exceeded.
Wire Detect
Uref Uref threshold
Upos Upos
Uref
Guide Wire Guide Wire Guide Wire
Operating range
RT2 RT1 Upos: RT 1 Upos: RT 3
(lateral deviation)
RT5 Uref: RT 2 Uref: RT 4 -10VDC
Wire Detect: RT 5
Technical Data
RT4 RT3 Dimensions 98 x 67 x 34,5 mm (without connector or cable tail)
Casing ABS
Corresponding Products
Weight 260 g
Frequency generator,
HG G-57400 Temperature ranges Operation: 0° C to +40° C / Storage: -20° C to +70° C
single loop, euro cassette
Supply voltage 24 V ±20 %
Frequency generator,
HG G-57401 Current consumption approx. 100 mA
single loop, euro card
Frequencies 8 fixed default frequencies (see variants table above)
Frequency generator,
HG G-57500 Fsel data inputs 24 VDC, Ri = 10 K, selection of the active frequency, see box on the left
dual loop, euro card
HW CON00036 Binder coupling Analog outputs Uref/Upos -10 to +10 VDC / Ia < 1 mA
Connection cable 5 m Wire detect output 24 VDC, 20 mA power restricted
HW CAB00087 Protection class IP 40
with Binder coupling
Cable tail 1300 mm (open end) or Binder connector 8-pin (723 series, type 09-
Connector
0173-80-08)
© Götting KG – We reserve the right to perform modifications to our products, particularly
technical improvements and further developments.
Götting KG, Celler Str. 5, D-31275 Lehrte, Germany
www.goetting-agv.com Tel. +49(0)5136 / 8096-0, Fax -80, E-Mail
[email protected] Innovation in Guidance
