Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
97
Chapter 5: Commissioning
'Wheels –> Angle Offset' can also be used. It is important to make sure here that no
mechanical limit stops of the steering angle sensor are damaged, as they are not
installed symmetrically.
2.
Test the direction and scaling of the steering angle.
To do so, turn the wheel to the right to an angle that permits easy measurement (for
example -90
o
or limit stop). A negative steering angle with the value actually turned
should now be displayed at the corresponding wheel. Otherwise make a correction.
3.
Check of the path detection
To do so, move the steering angle into the 0
o
position. Subsequently, move the vehi-
cle forwards and make sure that all wheels indicate a positive speed. Otherwise cor-
rect the path detection (for example by swapping the A and B tracks of the
incremental encoder). Repeat the test backwards (the speeds of the wheels should
now be negative). Then switch the vehicle off and on again. Make sure that both the
alignment (Heading) and the position (Pos X and Pos Y) in the 'Status –> Navigation'
menu are at zero. If this is not the case, it is likely that an old position was loaded on
starting –> disable the parameter.
Alternatively, the alignment and position can also be set to zero in the 'Parameter
Test' menu (do not forget the password). Measure a track of approx. 5 m straight
ahead in front of the vehicle and then drive the vehicle manually along this track.
It is
not important to drive exactly 5 metres, but the distance actually covered
should be measured exactly.
The distance should be positive. If the displayed dis-
tance is longer than the distance actually driven, the parameter 'Increment / Metres'
is set too low. The formula for optimisation is:
Figure 74
Formula: Correction of 'Increment / Metres'
The test should be repeated until the error lies below 1 %.
Proceed in the same way for the other sensors.
4.
Test of the odometry
Switch the vehicle off and on again and mark the position of the vehicle zero point (in
this example, the point between the fixed castors on the ground). Then drive a 90
o
curve to the left. The alignment of the vehicle should now be 90
o
and the displayed
position should match the actual position (X and Y components should be positive). If
they are not, the parameters should be checked once again, particularly the positions
of the wheels (also pay attention to the + or - sign).
5.
Test of the transponder antenna
Place a transponder 5 cm to the left of the centre of the transponder antennas under
the antenna. The transponder should be displayed with the right code in the 'Status –
> Transponder' menu. 'Read Y' should contain 0.05, otherwise check the parameters.
If the antenna has been mounted the wrong way round, for example, this can be cor-
rected with the + or - sign of the parameter
Reading orientation Y
.
6.
Test of the transponder table
If the transponder table contains the transponder code from the previous test, the
position of the transponder set in the transponder list should appear in the 'Status
Transponder' menu at 'Tr Pos X' and 'Tr Pos Y'. Otherwise, check / re-transfer the
transponder list in the 'Transponder Table' menu
Increment / Metres (new)
Increment / Metres (old)
Distance (displayed)
Distance (actual)
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