Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
64
Chapter 4: Software
–
Tolerance Speed: Tolerance of monitoring the speed of the corresponding wheel
–
CAN Tx: CAN identifier of the messages of the corresponding wheel sent by the nav-
igation controller (see CAN bus description 'Message Wheel Tx' in Table 31 on page
111). These are the target values of the corresponding wheel. In the case of 0, the
message is not sent.
–
CAN Rx: CAN identifier of the messages of the corresponding wheel received by the
navigation controller (see CAN bus description 'Message Wheel Rx' in Table 39 on
page 117). These are the actual values of the corresponding wheel.
–
CAN Tx Virtual: CAN identifier of the messages of the corresponding wheel sent by
the navigation controller (see CAN bus description 'Message Wheel Tx Virtual' in
Table 33 on page 112). These are theoretical values that could be measured at the
wheel.
Virtual wheels are practical if, for example, in the case of a 3-wheel vehicle the incre-
mental encoders are attached to the wheels of the rigid axle. If the rear wheel is then
driven, this message can be used as the actual speed even though no encoder is fit-
ted on the axle. The speed is measured on the basis of the other wheels and con-
verted to the position of this wheel. In the case of 0, the message is not sent.
4.3.4 Configuration –> Antennas
The parameters for the antennas of the vehicle are set in this menu. Fundamental consid-
erations regarding the number and location of the antenna(s) can be found in section 2.3.2.1
Figure 55
Screenshot: Configuration –> Antenna
Setting the antennas. The table has six columns:
1.
Item: Shows which value is involved.
2.
Ant 1 to 4: Input of the values (4th antenna preparation for future applications)
3.
Unit: Unit of the value
The following values can be changed:
