Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
105
Chapter 6: CAN Bus Protocol
6.2 Transmission Telegrams from Control Unit to PLC, the
Wheels and the Gyro
6.2.1 Path Data Box
Message
Path data (actual)
Transmitter
Vehicle Guidance Controller (VGC)
Receiver
PLC / Vehicle
Period
20 ms
ID
Parameter (305h / 773d)
Data
byte 0
Status of vehicle guidance (LowByte)
bit-0 –
bit-1 –
bit-2 –
bit-3 –
bit-4 –
bit-5 –
bit-6 –
bit-7 –
byte 1
Status of vehicle guidance (HighByte)
bit-0 –
bit-1 Segmentsearch active
bit-2 Segmentsearch finished
bit-3 –
bit-4 –
bit-5 –
bit-6 –
bit-7 –
byte 2
Lowbyte of Actual Point Number (Byte 7 even) *)
Lowbyte of Max Point Number (Byte 7 odd) *)
byte 3
Highbyte of Actual Point Number (Byte 7 even) *)
Highbyte of Max Point Number (Byte 7 odd) *)
byte 4
Lowbyte of segment (table)
byte 5
Highbyte of segment (table)
byte 6
– Index number of table (0-7) for the actual segments
(not during segmentsearch)
– Index number of table (0-max 39) during segment-
search
byte 7
Mirrored Request Count of Segments
*) In the vector modes those are used differently:
– Instead of Actual Point Number: Distance traveled since mode start.
– Instead of Max Point Number: Distance until the target.
The distances are limited to 32 m.
Table 26
CAN Tx Telegram: Path data (actual)
