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

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Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
90 Chapter 5: Commissioning HG G-73650ZD
Parameter Wheel 1 Value Explanation
Type Var. Angle This is a steered wheel
Position X 1,200 X position of the wheel
Position Y -0.200 Y position of the wheel
Source of Angle CAN The steering angle is transferred via the CAN bus
Constant Angle 0.000 Is only important if the type is 'Fix. Angle'
Min. Angle -120,000 Right-hand limit stop of the steering
Max. Angle 120,000 Left-hand limit stop of the steering
Angle Offset 0.000 Not yet used, should always be 0
Source of Dist. / Speed Encoder 1 The terminal Encoder 1 is used to determine the path covered
by the wheel.
Inc. / metre 1000.000 1000 increments per metre
Clearance ---------- Not yet used
Tolerance Angle 5,000 Tolerance of the steering angle
Tolerance Speed 0.5 Tolerance Speed
CAN ID Tx 632d = 278h CAN identifier under which the navigation controller sends the
target values to the wheel. (freely definable, is entered in deci-
mal form)
CAN ID Rx 504d = 1F8h CAN identifier under which the navigation controller receives
the actual values for the wheel. (freely definable, is entered in
decimal form)
CAN ID Tx V 0 Virtual actual steering angle and speed, not sent at 0.
Table 17
Example commissioning parameters in Config. Wheels: Wheel 1
Parameter Wheel 2 Value Explanation
Type Fix. Angle This is a non-steered wheel
Specifying this wheel is important so that the navigation con-
troller knows how the vehicle responds.
Position X 0.000 X position of the wheel (vehicle co-ordinate system)
Specifies the position of the symmetry axis.
In the case of nor-
mal vehicles, the symmetry axis must go through the
zero point.
Position Y 0.250 Y position of the wheel (vehicle co-ordinate system)
Source of Angle ---------- No steering angle is transferred
Constant Angle 0.000 Specifies the direction of the wheel
Min. Angle 0.000 Right-hand limit stop of the steering
Max. Angle 0.000 Left-hand limit stop of the steering
Angle Offset 0.000 Not yet used, should always be 0
Source of Dist. / Speed ---------- As the wheel in the example has no incremental encoder, no
source for the speed / increments is entered here either
Inc. / metre 0.000 Is not used
Clearance ---------- Is not used
Tolerance Angle 0.000 Tolerance of the steering angle
Tolerance Speed 0.000 Tolerance Speed
CAN ID Tx 0 Is not used
CAN ID Rx 0 Is not used
CAN ID Tx V 0 Virtual actual steering angle and speed, not sent at 0.
Table 18
Example commissioning parameters in Config. Wheels: Wheel 2