Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
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Chapter 2: Basic Principles of Track Guidance
has to be transferred in ascending order. To prevent double transmissions within 10 ms (one
message would get lost and the whole table would be invalid) there is the Request Count
of Segments Byte. When the vehicle controller sends a box, it changes the status of byte 7
of the CAN box of Table 36 on page 114. The next box should not be transmitted before byte
7 in the CAN box Table 26 on page 105 (response of the navigation controller) has reached
the same counter.
The navigation controller's CAN Box answer has a similar structure. This box indicates the
current status of the segments in the navigation controller. The transmission of segments in
the Feldbus telegram is less complicated, here always 8 segments are transmitted together.
2.5.3 Attributes
When the vehicle reaches a support point in automatic mode, the corresponding attributes
are carried out and/or output (e.g. turn signal, horn etc.) The 16 lower bits have a specific
pre-defined meaning and are not output. The function of these bits will are specified in the
appendix in section A on page 144. The upper 16 bits are output in the CAN Status box in
byte 2 and 3. For most attributes sufficient information is disclosed in the annex. The fol-
lowing two exceptions warrant longer explanations:
2.5.3.1 Offset Driving
Note
This function will be available at a later time. When this document was issued it is not yet
being used.
Constantly driving on the same track can lead to a strong deformation of the surface struc-
ture (e.g. asphalt). For some plants it is therefore sensible to vary the route by a few centi-
meters. However, the track may only be moved so far that it is still possible to read the in-
stalled transponders. At transfer points / end points the offset has to be switched off.
Segment 0 in the navigation controller can be used as a version number of the segment file.
Segment 1 is the transition for offset left- turn driving. Segment 2 serves as a transition for
offset right- turn. Both segments have to start with the coordinates X = 0 and Y = 0. X direc-
tion is the longitudinal direction. The Y direction displays the offset to the actual track
(course).
The segments should be as short as possible. Segment 3 is the return from the left offset to
the actual course. Segment 4 is the return from the right offset to the actual course.
Figure 15
Offset segments
Segment 1 (establish offset left)
Segment 2 (establish offset right)
Segment 3 (dispel offset left)
Neutral line
Segment 4 (dispel offset right)
