Gotting HG G-73650ZD, Basics, Setup And Software

Page: 126 / 158

Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
124 Chapter 7: Feldbus Protocol HG G-73650ZD
60 H
signed long Y Position
Format: 32-bit complement to two
Resolution: 1 mm
Value range: -10km ... +10km
Offset: 0
61
62
63
L
64 H
unsigned short Angle
Format: 16-bit
Resolution: 0.01
o
Value range: 0
o
... 360
o
Offset: 0
o
65 L
66 H
signed short Speed
Format: 16-bit complement to two
Resolution: 1 mm/sec (Note: Until software
version 231 this was cm/sec)
Value range: -30 m/sec ... +30 m/sec
(-30000 ....... +30000)
Offset: 0
67 L
68 –
Byte Nav System
– bit-0 Transponder
– bit-1 GPS
– bit-2 Laser
69 – Byte Nav Status see Table 46 on page 120
70 H
signed short Wheel 1 Angle
Format: 16-bit complement to two
Resolution: 0.01
o
Value range: -180.00
o
...+180.00
o
Offset: 0
71 L
72 H
signed short Wheel 1 Speed
Format: 16-bit complement to two
Resolution: 1 mm/s
Value range: -32768mm/s ...+32767mm/s
Offset: 0
73 L
74 H
signed short Wheel 1 Radius
Format: 16-bit complement to two
see section B on page 145 in the appendix
75 L
76 H
word Wheel 1 Command
– bit-0 ..12 not used
– bit-13 Steering enable
– bit-14 Driving enable
– bit-15 Toggle
77 L
78 H
signed short Wheel 2 Angle
Format: 16-bit complement to two
Resolution: 0.01
o
Value range: -180.00
o
...+180.00
o
Offset: 0
79 L
80 H
signed short Wheel 2 Speed
Format: 16-bit complement to two
Resolution: 1 mm/s
Value range: -32768mm/s ...+32767mm/s
Offset: 0
81 L
82 H
signed short Wheel 2 Radius
Format: 16-bit complement to two
see section B on page 145 in the appendix
83 L
84 H
word Wheel 2 Command
– bit-0 ..12 not used
– bit-13 Steering enable
– bit-14 Driving enable
– bit-15 Toggle
85 L
86 H
signed short Wheel 3 Angle
Format: 16-bit complement to two
Resolution: 0.01
o
Value range: -180.00
o
...+180.00
o
Offset: 0
87 L
Byte Nr Order Type Name Explanation
Table 48
Feldbus Protocoll Tx Telegram Control Unit –> PLC (part 3 of 4)