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Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com

31

Chapter 2: Basic Principles of Track Guidance

To guide the vehicle it is necessary to determine the vehicle's target position first. At this
position a tangent is applied to the segment and the two points "Virtual Point Front" and

"Virtual Point Rear" are defined (in the previous control unit these points were indicated as
"Länge vorne" und Länge Hinten"). These are the two points that are relevant for the vehicle

control. Here the vectors "Forward Dis.Fix" and "Forward Dis Var" will be added in the seg-
ment's direction of travel. "ForwardDis Var" results from the multiplication of the corre-
sponding parameter and the actual velocity in m/s. All steering angles of the vehicle are

then calculated in such a way that the points "Virtual Point Front" and "Virtual Point Rear"
will move towards the end points of these vectors ("Direction Front" and "Direction Rear").

While the vehicle continues to travel, the direction of travel of the two points "Virtual Point
Front" and "Virtual Point Rear" changes in such a way that the vehicle approaches the target
position.

Figure 22

Guiding an omnidirectional vehicle: Control process

The vehicles indicated by bolder lines display the initial position. The thinly drawn vehicles
reflect the situation after having passed a short section. It is visible that the errors "Deriva-
tion Front" and "Derivation Rear" become smaller.

In principle:

The shorter the vectors "Forward Dis. Fix" and "Forward Dis. Var" are, the larg-

er the vehicle's steering angles will be. As "Forward dis.Var" is speed-dependent, "Forward

Dis. Fix" determines the vehicle control at low speeds.

The positions of "Virtual Point Front" and "Virtual Point Rear" have an impact on the control
system: If the distance to the zero-point of the vehicle is too short, the vehicle will quickly
be guided back to the segment. However, this may have the result that points further away
from the zero point might not return asymptotically to the segment. The points "Virtual Point
Front" and "Virtual Point Rear" will always return asymptotically to the segment (if the vehi-
cle doesn't swerve).

To ensure a damping of the vehicle's swaying movements the angle of "Direction Front" and

"Direction Rear" can be limited. This can be done with the parameters "Approach Lim. Fix"
and "Approach Lim Var". "Approach Lim Var" is speed-dependent as well. The limitation of
the angles is calculated as follows:

Figure 23

Formula: Limitation of angles

Limit

1

v

m
s

-

1

+

------------

-





















Approach Lim. Var

Approach Lim. Fix

+



=

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Содержание HG G-73650ZD

Страница 1: ...on Controller HG G 73650ZD Basics Setup and Software Innovation in Guidance English Revision 05 Date 09 03 2017 Dev by ML LM Author s RAD ML Documentation HG G 73650ZD www goetting agv com Autonomous...

Страница 2: ...English Revision 05 Date 09 03 2017 www goetting agv com 2 Overview HG G 73650ZD 2017 G tting KG errors and modifications reserved The G tting KG in D 31275 Lehrte has a certified quality management s...

Страница 3: ...Fusion Placing Vehicle on the Track 15 2 3 2 1 5 The Transponder List 16 2 3 2 2 GPS 16 2 4 Coordinate Systems 17 2 4 1 The Vehicle Coordinate System 17 2 4 2 The Local Coordinate System 17 2 4 3 Char...

Страница 4: ...SIO 3 40 3 5 8 POWER 41 3 5 9 IO 41 3 5 10 ENCODER 1 ENCODER 2 41 3 5 11 PROG 42 3 5 12 ANT1 ANT2 42 3 6 Extension module Feldbus 42 4 Software 43 4 1 Main menu 44 4 2 Status menu 45 4 2 1 Navigation...

Страница 5: ...s from navigation controller into a file on the PC 78 4 6 Segment File menu 78 4 6 1 Upload Segment File Transfer a segment file from the PC into the navigation con troller 78 4 6 2 Download Segment F...

Страница 6: ...Control Unit to PLC the Wheels and the Gyro 105 6 2 1 Path Data Box 105 6 2 2 Segment Search Box 106 6 2 3 Status Box 106 6 2 4 Error Box 107 6 2 5 Wheel Boxes 111 6 2 6 Gyro Box 113 6 3 Reception Tel...

Страница 7: ...Revision 05 Date 09 03 2017 www goetting agv com 5 Table of Contents HG G 73650ZD 13 List of Tables 153 14 Copyright and Terms of Liability 155 14 1 Copyright 155 14 2 Exclusion of Liability 155 14 3...

Страница 8: ...he hardware navigation controller Vehicle Guidance Controller VGC 1 1 Symbols The following symbols and marks are used in G tting documentations Note Indicates technical information that should be fol...

Страница 9: ...technical product the following pages will first cover the various aspects of the vehicle s track guidance that have to be considered before we explain the subject areas of commissioning and configur...

Страница 10: ...east one rotary encoder or any other velocity or distance determining sensor has to be in operation When rotary encoders are directly connected to the steering controller please ensure that it is a pu...

Страница 11: ...mize the friction Figure 1 Example Suitable vehicle types selection The sketch below shows simplified versions of all the vehicles as three wheelers because this is the base vehicle model used by the...

Страница 12: ...ation If the internal sensor fusion is used the position of the vehicle is calculated from the odom etry initialized and corrected by the transponder antenna and or the GPS system The tran sponder ant...

Страница 13: ...ce traveled the error tends to grow more rapidly as the angle is also steadily worsening So with every meter travelled the value of the accuracy assessment is decreased by one position i e it moves on...

Страница 14: ...hat the relative transponder position in direction to the long side of the antenna is measured In direction of the short antenna side only the crossing impulse posi pulse is available which is generat...

Страница 15: ...ccuracy of the calculation not only depends on the antenna and the transponders but also on the odometry Subsequently this calculation is not as accurate as the measurement accuracy guaranteed if two...

Страница 16: ...he timing will increase Major corrective movements may lead to completely missing the transponder in posi tion two If it is not possible to install the antenna close to the fixed axle e g on a fork li...

Страница 17: ...cle s position and orientation when driving diagonally Antenna 1 and 3 de termine the orientation and Y position antenna 2 determines the vehicle s X position vehi cle coordinate system If only antenn...

Страница 18: ...t Excel or other spreadsheet applications The navigation controller can import and export this list configuration via web browser see section 4 8 1 on page 81 Additionally the list can be displayed in...

Страница 19: ...tional vehicles the origin has to be placed on a point that is always moving in vehicle direction e g the axis that is not steered The coordinate system is always positioned in the vehicle so that for...

Страница 20: ...ude and latitude are impossible to measure with yard sticks Plate tectonic means that the land masses are drifting several centimeters each year inside the global coordinate system Thus country specif...

Страница 21: ...acks or marks e g lines or guide wires It is usually constructed in a CAD program where the desired track is drawn directly on a ground plan Later on the vehicle will follow this virtual track as if i...

Страница 22: ...entation The columns are separated by a semi colon In Microsoft Excel this can be done e g by saving the file Format CSV MS DOS In a text editor the file looks as follows 3 0 10000 2000 150 200 0x0000...

Страница 23: ...n error occurs Tip Use 1 as the final speed since 0 might result in the vehicle stopping before the segment ends Figure 13 Example for congruent segments The vehicle always moves continuously through...

Страница 24: ...transmitted The time it takes to identify all drivable segments depends on the segment size and number It can easily take some sec onds The segment search must not be requested as described above but...

Страница 25: ...Test For more detailed information see section 4 10 on page 83 and chapter 5 on page 86 The navigation controller includes the segments in the Can box Path Data Target The structure of the box is des...

Страница 26: ...4 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...

Страница 27: ...nverse and Steer not inverse are used to handle special cases for omnidirectional vehicles with limited steering angles The following example shows an om nidirectional vehicle with a total steering an...

Страница 28: ...ne a segment for each target This way is rather complex though When using segments the minimum length of segments has to be observed a minimum of 4 support points with a distance of 10 cm between the...

Страница 29: ...l stop steers the wheels so that it can turn on the spot and then turns to the target heading The default is that it turns in the direction in which the new heading is reached first If the vehicle is...

Страница 30: ...Documentation HG G 73650ZD English Revision 05 Date 09 03 2017 www goetting agv com 28 Chapter 2 Basic Principles of Track Guidance HG G 73650ZD Figure 19 Online Track Editor by G tting...

Страница 31: ...se of the navigation controller is to guide the vehicle on the intended track This track is compiled from a segment sequence The segments are stored in the navigation con troller and can be addressed...

Страница 32: ...error occurs or the vehicle drives beyond the end point the velocity is set to 0 2 6 2 Steering Angle Calculation The track guidance of the navigation controller is made up of two parts 1 The feed fo...

Страница 33: ...omnidirectional vehicle Control process The vehicles indicated by bolder lines display the initial position The thinly drawn vehicles reflect the situation after having passed a short section It is v...

Страница 34: ...e non steering axle would move to one side or the other Thus the vehicle control to the opposite direction looks is as follows Figure 25 Backwards guidance of a non omnidirectional vehicle When the ve...

Страница 35: ...n has to match the given segment it must be possible to drive the given segment ATTENTION It is essential that the corresponding segments are transferred to the steering controller be fore the automat...

Страница 36: ...de is related to the automatic mode For each transmitted target a segment is calculated that leads from the current position to the target position Thus it is important to adhere to the following sequ...

Страница 37: ...y mutually mon itor their communication This guarantees a higher level of security The Vehicle PLC is re sponsible for controlling vehicle components such as motor brake speed and steering Four IO cha...

Страница 38: ...oller as a whole has a type number based on its software 73650 The number of the GPS system with the same hardware is HG G 57652 The hardware is available in a basic configuration and in a version wit...

Страница 39: ...abinet is available for other components of the vehicle control 3 2 Front Panel Figure 28 LED s and connectors 3 3 Control Elements on Front Panel Element Position Meaning SW 1 Press button 1 s Stop d...

Страница 40: ...FF Ethernet transmission rate 10 Mbit s USB ACT Data logging active GPS PWR Power Supply GPS receiver ok GPS CORR Reception of GPS correction data GPS SVs Reception of GNSS satellites SIO 1 Rx SIO 1 r...

Страница 41: ...nnector SIO 1 Function Communication with internal GPS receiver optional Interface RS 232 Spannungsversorgung f r externes Funkmo dem Plug type Sub D 9 pins DE9 female 3 5 4 SIO 2 Figure 32 Sketch of...

Страница 42: ...ce CAN Spez V2 0 Teil B Plug type Phoenix Contact FKCT 2 5 3 STF 5 08 3 5 7 SIO 3 Figure 35 Sketch of connector SIO 3 Function Not used Interface RS 232 Plug type Phoenix Contact FKCT 2 5 3 STF 5 08 7...

Страница 43: ...24 V and one output 0 to Ub Plug type Phoenix Contact FKCT 2 5 4 STF 5 08 3 5 10 ENCODER 1 ENCODER 2 Figure 38 Sketch of connectors ENCODER 1 ENCODER 2 Function Connection of incremental encoders Int...

Страница 44: ...Goetting internal use only Do not connect 3 5 12 ANT1 ANT2 Without option GPS dummy plug With option GPS 2 X TNC plugs for the connection of GPS antennas s Figure 26 on page 36 3 6 Extension module F...

Страница 45: ...ht look slightly different but operation is the same Unfortunately the characteristics of the browsers also differ Whereas Chrome always dis played the pages this was not the case with Internet Explor...

Страница 46: ...ction 4 5 on page 77 Segment File Saving the current segment table of the navigation controller in a seg ment file on the PC and or loading a segment file from the PC more information in section 4 6 o...

Страница 47: ...mode 4 Deviation Difference between actual and target value only during automatic mode 5 Unit Unit of the displayed value The following values are listed Move Direction of movement of the vehicle Hea...

Страница 48: ...the vehicle zero point Accuracy Accuracy of the vehicle position Error Error code of the navigation controller 4 2 1 3 Seg Table This table shows the current segment lists The table has three columns...

Страница 49: ...the end point the value is greater than 3 Example 2 31 The vehicle has covered 31 of the path from the last to the penultimate point Attribute current attribute Status of the segment Up to 2nd point S...

Страница 50: ...menu Figure 43 Screenshot Status Transponder Note Sensor fusion with transponders is only executed if it has been enabled in the parameters Otherwise this page is only displayed and no values are upda...

Страница 51: ...found in the list the value is zero Tr Pos Y Y position from the transponder list that is linked to the transponder code If the transponder was not found in the list the value is zero 4 2 2 2 Result...

Страница 52: ...s are displayed Pos X X co ordinate in the base co ordinate system determined by the GPS Pos Y Y co ordinate in the base co ordinate system determined by the GPS Heading Angle in the base co ordinate...

Страница 53: ...el 2 4 2 3 3 Controller Deviation The table has three columns 1 1 column Shows which value is involved 2 2nd column Output of the value 3 3 column Unit of the value The following values are displayed...

Страница 54: ...ion 0 poor 50 max good Controller State State of the controller The GPS controller is started if the status is 0 The possible reasons that the controller is not running are binary coded 0x01 Speed of...

Страница 55: ...s State of the navigation solution 4 2 4 3 Position The table has two columns 1 1st column Shows which value is involved 2 2nd column Output of the value The following values are displayed Latitude Ge...

Страница 56: ...X co ordinate in the base co ordinate system Position Y Y co ordinate in the base co ordinate system Position Z Z co ordinate in the base co ordinate system 4 2 4 8 Heading The table has three column...

Страница 57: ...ve not been picked up by the vehicle control system see for example 6 2 4 on page 107 similar procedure for Feldbus For the exact meaning refer to the error codes in Table 29 on page 109 and Table 30...

Страница 58: ...the connection in seconds 4 3 Configuration menu ATTENTION Changing the parameters can mean that the navigation controller no longer functions as ex pected and the track guidance of the vehicle become...

Страница 59: ...lumns and is divided into two parts 1 Item Shows which value is involved 2 Setting Input of the value 3 Unit Unit of the value The following values can be changed Trigger Level Digital Inputs As of th...

Страница 60: ...etry Int Trans GPS The transponder antenna s are calculated to a position together with a built in GPS and an odometry External Fusion The position is sent by an external sensor fusion to the naviga t...

Страница 61: ...cle control system to the navigation controller CAN ID Segment Tx Identifier for transferring the message Segment from the navi gation controller to the vehicle control system CAN ID Segment Tx Identi...

Страница 62: ...on omnidirectional vehicle Figure 50 Example Non omnidirectional vehicle In the case of these vehicles the vehicle zero point must be on the axle that cannot be steered The wheels that cannot be steer...

Страница 63: ...to calculate the odometry The odometry is all the better the greater the distance between the wheels A requirement is that the appro priate sensor system has been fitted at the wheels It is also possi...

Страница 64: ...sed 2 Fix Angle wheel cannot be steered 3 Var Angle steered wheel Position X X position of the corresponding wheel see Figure 53 on page 61 Position Y Y position of the corresponding wheel see Figure...

Страница 65: ...the speed or distance of the corresponding wheel is read The following can be selected Inc 1 Incremental encoder 1 at the Encoder 1 terminal Inc 2 Incremental encoder 2 at the Encoder 2 terminal Dist...

Страница 66: ...ssage 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 m...

Страница 67: ...CAN ID1 ID of the PDO 1 of the antenna CAN ID2 ID of the PDO 2 of the antenna 4 3 5 Configuration Accuracy Figure 56 Screenshot Configuration Accuracy It can be set here up to which position accuracy...

Страница 68: ...racy up to which there is a switch from Idle into Automatic mode Deviation Attribute 0 Accuracy up to the vehicle travels if the attribute Deviation Table 53 on page 144 Attribute_Deviation_Switchover...

Страница 69: ...der to avoid vibrations Example When parking a car the driver aims for a point close to the front of the car When driving on the motorway the driver aims for a point 100 m in front of the car Approach...

Страница 70: ...l vehicles always take place and for non omnidirectional vehicles take place when driving forwards see section 2 6 3 on page 30 The deviations limited in the Accuracy menu are also determined at this...

Страница 71: ...resent a safeguard The speed of the vehicle should be limited via the segment file in conjunc tion with the Scaling Speed parameter see below in such a way that it is below the limit at all times Alth...

Страница 72: ...h the vehicle at a stand still 4 3 10 on page 73 Cycles Correction Specifies the number of calculation cycles in which a position cal culated via the transponders is included in the position of the ve...

Страница 73: ...The following values can be changed Min accuracy for autosteering Minimum accuracy of the GPS position so that the position calculation is carried out Min Speed Minimum speed of the vehicle so that th...

Страница 74: ...e area into two parts One area is travelled preferably with the GPS the other with the transponder system To achieve this two points are defined To the left of the line of point 1 to point 2 is the GP...

Страница 75: ...ut by another control system or auto matically after the averaging delay time see below the averaging must be enabled here After averaging the drift rate of the gyroscope is significantly better that...

Страница 76: ...cope transmits on the CAN bus to the nav igation controller decimal value 4 3 11 Configuration Servo Figure 64 Screenshot Configuration Servo Servo refers to a framework consisting of activation and d...

Страница 77: ...is the external servo which is not applied to any wheel Note The controller boost consists of the parameters Kp Ki and Kd It influences how quickly the target value is reached If the selected boost i...

Страница 78: ...onent Limit I Min Limitation of the negative integral component CAN ID Tx Identifier with which the navigation controller transmits on the CAN bus to the corresponding servo decimal value Must also be...

Страница 79: ...Configuration button The message waiting for 10 10 10 20 should appear briefly in the bottom left whereby 10 10 10 20 is an example of the set network address of the navigation controller see section...

Страница 80: ...s to be saved must be specified Alternatively it can be that the browser transfers the file directly into its Download folder without a prompt As default the file will have the name parameter txt no m...

Страница 81: ...it internally under the name segmente csv If a file with the name segmente is transferred and this file contains no segments the segments stored in the navigation controller are lost Note It is there...

Страница 82: ...shown in green and the data concerning the segment end are shown in blue No Segment number Length Number of support points in the segment Move Direction of movement of the segment at the start green...

Страница 83: ...onder_01 csv 2 Subsequently click on the Upload Transponder File button The messages Uploaded XX and subsequently waiting for 10 10 10 20 should appear briefly in the bottom left whereby 10 10 10 20 i...

Страница 84: ...transfers the file directly into its Download folder without a prompt As default the file will have the name transponder csv no matter what the name of the file was that was trans ferred into the navi...

Страница 85: ...red all buttons are displayed In other modes some buttons are removed The table in the top left Status shows the current actual and target values and deviations and was already described in section 4...

Страница 86: ...ent speed larger steps are possible with the shift key s S Decrement speed larger steps are possible with the shift key a A Steer to the left larger steps are possible with the shift key d D Steer to...

Страница 87: ...o the vehicle control system If the OK button is actuated on one of the parameter pages these segments are also saved If the list is to be changed the disable List button must be switched back to enab...

Страница 88: ...Otherwise same as transponder 5 2 Test real operation If a vehicle is to be put into operation there are a number of possibilities to do so Simulation and parameter test Particularly if the user is n...

Страница 89: ...umentation for the network setting of the operating system you are using The default setting in the nav igation controller is 10 10 10 20 Once the PC and navigation controller are connected via the ne...

Страница 90: ...ailable CAN messages of the wheels can still be placed on CAN 2 CAN2 Baudrate 250 Baud rate for the CAN 2 connector slot Send Fusion On The sending of the position alignment and speed on the CAN bus c...

Страница 91: ...ns to the left the angle becomes more positive The ve hicle alignment moves between 0 and 360 The steering angles move between 180 and 180 If the vehicle moves in a forward direction a wheel with the...

Страница 92: ...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 Ty...

Страница 93: ...ection 2 3 2 1 1 on page 12 Parameter Value Explanation CAN Interface CAN 2 Std Specifies that the communication with the wheels runs via the CAN 2 socket Std means that 11 bit identifiers are used Ta...

Страница 94: ...the angles of the steering To date only in the remote control mode and with presetting in the Parameter Test menu Speed Spot Turn 0 200 Speed during the spot turn fastest wheel Virtual Point Front 1 6...

Страница 95: ...ated Tolerance Trans Distance Rel 1 000 The distance of the transponder measured with the odometry should correspond to the distance from the transponder list with a maximum 1 deviation so that a vali...

Страница 96: ...section a curve and a backwards segment A sample segment file to which this description also refers is available in the download area Link segmente_default csv on the site http goetting agv com compo...

Страница 97: ...t the corresponding parameter pages and the Seg ment Table page Now on one of the parameter pages enter the password log in and switch to the Parameter Test page 1 In the Segment table enter 0 at segm...

Страница 98: ...ed above all parameters should be set initially Parameters that are not known exactly should be estimated as well as possible Most of these parameters for example Increments Metres are optimised in th...

Страница 99: ...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 Me...

Страница 100: ...w moves manually in a straight line from tran sponder 10dez to transponder 20dez and in doing so remains 5 cm to the left of the transponders and comes to a standstill when the zero point of the vehic...

Страница 101: ...makes relative measure ments If two transponders are driven over the absolute position can be calculated and the odometry set referenced to this position As almost all segments start from X 0 and Y 0...

Страница 102: ...target value If 0 1 seconds is now entered in Time Forward section 4 3 6 on page 66 the navigation controller delivers the steering an gle for the curve pre control 0 02 seconds before the value is to...

Страница 103: ...the dead time from the jump of the target elbow to the first reaction of the steering This time arises due to the necessary communication of the individual components activation times of valves etc Th...

Страница 104: ...ins fixed location speeds This means that the acceleration resulting from the speed profile in the segment file is higher at high speeds than at speeds Example Support point clearance 0 5 m In the cas...

Страница 105: ...cessfully has received the last telegram by changing the counter in between An example of how this synchronization works is shown for the transmission of several error messages in section 6 2 4 on pag...

Страница 106: ...Request Count of Segments Path data target Box Byte 7 Goto Step 2 Wait until Mirrored Request Count of Segments of the Control unit Path Data Box Byte 7 is equal to Request Count of Segments of the T...

Страница 107: ...it 2 Segmentsearch finished bit 3 bit 4 bit 5 bit 6 bit 7 byte 2 Lowbyte of Actual Point Number Byte 7 even Lowbyte of Max Point Number Byte 7 odd byte 3 Highbyte of Actual Point Number Byte 7 even Hi...

Страница 108: ...rd segment table byte 6 Index of the First Segment in the List byte 7 Message Counter The Message Counter will be increased with each transmission as sign of operation Table 27 CAN Tx Telegram Segment...

Страница 109: ...ransmit one error code and the corresponding Object Number Since not all Error Codes from the example can be transmitted in a single telegram they are split over several telegrams In order to synchron...

Страница 110: ...Wheels bit 16 Wheels bit 16 Wheels bit 16 Wheels 0x00 0x00 0x00 0x00 0x01 0x04 0x80 0x02 Low Byte Error Segment Release Low Byte Rear Low Byte Error Speed Low Byte Receive CAN Increments 0x00 0x00 0x...

Страница 111: ...11 Emergency Stop bit 12 Error Segment Table bit 13 Error plausibility bit 14 bit 15 8 9 10 11 12 13 14 15 byte 2 bit 16 Wheels bit 17 Antenna bit 18 Camera bit 19 Wire bit 20 Gyro bit 21 PLC bit 22...

Страница 112: ...nt number 13 Error plausibility 0x0001 Speed is high but position doesn t change 0x0002 Vehicle is moving in wrong direction 0x0004 Vehicle in front of segment 0x0008 Vehicle behind segment 0x0020 Seg...

Страница 113: ...e 0 Lowbyte Target Steering Angle Format 16 bit complement to two Resolution 0 01o Value range 180 00o 180 00o Offset 0 byte 1 Highbyte Target Steering Angle byte 2 Lowbyte Target Speed Format 16 bit...

Страница 114: ...Value range 180 00o 180 00o Offset 0 byte 1 Highbyte Target Steering Angle byte 2 Lowbyte Target Speed Format 16 bit complement to two Resolution 1 mm s Value range 32768mm s 32767mm s Offset 0 byte...

Страница 115: ...HG G 73650ZD 6 2 6 Gyro Box Message Gyro Transmitter Vehicle Guidance Controller VGC Receiver Gyro Period 10 ms when needed ID Parameter CAN Tx see section 4 3 10 on page 73 Data byte 0 Command Bit 0...

Страница 116: ...or vehicle guidance LowByte bit 0 release segment 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 byte 1 Commands for vehicle guidance HighByte bit 0 bit 1 Segmentsearch request bit 2 bit 3 bit 4 bit 5 bi...

Страница 117: ...arch byte 7 Message Counter The Message Counter will be increased with each transmission as sign of operation By setting Error Acknowledge Emergency Stop Acknowledge to 1 all errors in the Vehicle Gui...

Страница 118: ...ement to two Resolution dependant on mode 1 mm 1 mm s Value range 30000 mm s 30000 mm s Offset 0 See 2 6 5 4 on page 33 byte 3 Highbyte Remote Y byte 4 Remote Mode s section 2 6 5 4 on page 33 0 No re...

Страница 119: ...8mm s 32767mm s Offset 0 byte 3 Highbyte Actual Speed byte 4 not used byte 5 not used byte 6 Lowbyte Status s Table 40 below byte 7 Highbyte Status s Table 40 below Table 39 CAN Rx Telegram Wheel Rx S...

Страница 120: ...e High byte 4 Number of readings byte 5 Supply Voltage byte 6 Antenna Current byte 7 Antenna Temp Table 42 CAN Rx Telegram Antenna 1 Info Message Gyro Transmitter Gyro Receiver Vehicle Guidance Contro...

Страница 121: ...Format 32 bit complement to two Resolution 1 mm Value range 10km 10km Offset 0 byte 1 X Pos byte 2 X Pos byte 3 X Pos Highbyte byte 4 Vehicle Angle heading Lowbyte Format 16 bit Resolution 0 01o Value...

Страница 122: ...byte 2 Y Pos byte 3 Y Pos Highbyte byte 4 Vehicle speed actual Lowbyte 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 se...

Страница 123: ...Value Traveled distance since last transponder Unit 0 10 16 Meter 1 7 15 Meter 2 5 14 Meter 3 3 13 Meter 4 2 12 Meter 5 1 11 Meter 6 0 5 10 Meter 7 0 3 9 Meter 8 0 2 8 Meter 9 0 15 7 Meter 10 0 1 6 Me...

Страница 124: ...2 H Word Attribute Bit 17 32 of the Segment Attribute at the actual Segment at the actual Point 3 L 4 spare 5 spare 6 spare 7 spare 8 H Word Segment Status bit 8 bit 9 Segmentsearch active bit 10 Seg...

Страница 125: ...egment end reached 1 bit 2 Segment Release 2 bit 8 Mode request 8 bit 9 Sensor accuracy 9 bit 10 deviation Error 10 bit 11 Emergency Stop 11 bit 12 Error Segment Table 12 bit 13 Error plausibility 13...

Страница 126: ...ement 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 W...

Страница 127: ...to two Resolution 0 01o Value range 180 00o 180 00o Offset 0 95 L 96 H signed short Wheel 4 Speed Format 16 bit complement to two Resolution 1 mm s Value range 32768mm s 32767mm s Offset 0 97 L 98 H s...

Страница 128: ...et 0 3 L 4 spare 5 Byte Request Count of Error Counter modulo 2 bit Bit 0 and 1 6 Byte Request Count of Seg ment Search Counter modulo 8 bit 7 spare 8 H Word Segment Command bit 0 release segment 0 bi...

Страница 129: ...two Resolution dependant on mode 1 mm 1 mm s Value range 30000 mm s 30000 mm s Offset 0 See 2 6 5 4 on page 33 43 L 44 H signed short Remote Y Format 16 bit complement to two Resolution dependant on m...

Страница 130: ...H word Wheel 2 Command bit 0 12 not used bit 13 Steering enable bit 14 Driving enable bit 15 Toggle 65 L 66 H signed short Wheel 3 Angle Format 16 bit complement to two Resolution 0 01o Value range 18...

Страница 131: ...it 13 Steering enable bit 14 Driving enable bit 15 Toggle 81 L 82 H signed short Extern Servo Umdrehung Min 10000 bis 10000 83 L 84 spare 85 spare 86 spare 87 spare 88 spare 89 spare 90 spare 91 spare...

Страница 132: ...m prise the current time the file extension is txt At a timing of 60 70 ms each file contains approx 5 minutes of a drive ATTENTION As soon as there are more than 20 files on the stick the control uni...

Страница 133: ...so that it s easier to use the values in Excel see next entry ms The unit belonging to the time stamp see entry above Actual Direction Actual moving direction of the vehicle zero point in o Actual He...

Страница 134: ...tion in m A Curv Steering angle at the current position resulting from the curvature of the seg ment in o A Point No Segment point number at the current position A Sample Sample point of the regressio...

Страница 135: ...e 0 stands for drive through test seg ment 1 without stop The C is a combination of 4 end of drive and 8 stop speed profile chosen It means that the vehicle will stop in test segment 1 The following s...

Страница 136: ...page 110 Buffered E_ANT 4 Antenna s Table 30 on page 110 Buffered E_KAM 1 Error camera 1 not yet available E_KAM 2 Error camera 2 not yet available E_KAM 3 Error camera 3 not yet available E_KAM 4 Err...

Страница 137: ...round which the vehicle turns and wheel 1 in X direction Pole Wheel 1 Y Length between the point around which the vehicle turns and wheel 1 in Y direction Pole Wheel 2 X Length between the point aroun...

Страница 138: ...of regulation Dir Rear Y X component of the vector target direction at the rear point of regulation Sign rot Pol reg Sign of the rotation direction of the pole of the regulation used in the modes Par...

Страница 139: ...Odo delta Head Wheel Vehicle heading change of the primary odoemtry calculated via wheels 1 and 2 Odo delta Head Used vehicle heading change of the primary odometry may come from the gyro Odo local Po...

Страница 140: ...from the transponder table Ant2 Stat Calc Transponder antenna 2 Status of the transponder calculation Ant3 Dist Odo Transponder antenna 3 Distance between second to last and last transponder calculat...

Страница 141: ...cle heading from GPS transformed to vehicle coordinate system GPS X X position from GPS transformed to vehicle coordinate system GPS Y Y position from GPS transformed to vehicle coordinate system GPS...

Страница 142: ...onto GPS when ready Head Cnt Telegram counter for the direction of the antenna of the GPS system Head mem Last telegram counter for the direction of the antenna of the GPS system Dist Border Distance...

Страница 143: ...ected segment 2 No start release for the vehicle control unit the vehicle might be in test mode visible by the word Test shown in the 7 seg ment display on the device 3 Errors Request or Vehicle are d...

Страница 144: ...u Status Error 4 2 5 on page 55 2 Speed is not transmitted 1 Check the indicated error message in Table 30 on page 110 2 Use P CAN View or a Profinet tool to check whether the speed of the wheel is tr...

Страница 145: ...g With expansion module HG 61431 approx 950 g Operating temperature 25 to 70o C Storage temperature 40 to 85o C Protection class IP20 Shock vibration DIN rail mount 3 5 mm from 5 9 Hz 1G from 9 150 H...

Страница 146: ...vigation with GPS System 0x00000040 Accuracy This bit can be used to switch between two parameters for the max imum acceptable position accuracy 0 Accuracy Track 0 is used 1 Accuracy Track 1 is used 0...

Страница 147: ...ollowing equation shows the transformation used to calculate the number that has to be transmitted for a given radius Figure 82 Formula Equation for the calculation of 16 bit radii s16 is the number t...

Страница 148: ...art the EXE The following screen comes up Figure 85 Screenshot Software for setting t parameters of t Ethernet interface via SIO 2 BEWARE The button Format Flash erases the interal memory of the navig...

Страница 149: ...e Link You can download the Firmware Update Software from http goetting agv com compo nents 73650 1 Preparation Install the PC software by executing DfuSe_Demo_Vx x x_Setup exe 2 Power the control uni...

Страница 150: ...148 Chapter 11 Appendix HG G 73650ZD Figure 87 Firmware Update Software Adjust options 7 Choose a firmware file with the type dfu Figure 88 Firmware Update Software Choose firmware file 8 Status messa...

Страница 151: ...irm by clicking Yes Figure 90 Firmware Update Software Confirmation dialog 10 Afterwards the deletion and programming process starts Figure 91 Firmware Update Software Update l uft 11 When it is finis...

Страница 152: ...15 Offset segments 24 Figure 16 Example Offset driving 25 Figure 17 Example Inverted steering 25 Figure 18 Example Steering not inverted 26 Figure 19 Online Track Editor by G tting 28 Figure 20 Exampl...

Страница 153: ...onfiguration Antenna 64 Figure 56 Screenshot Configuration Accuracy 65 Figure 57 Control of an omnidirectional vehicle 66 Figure 58 Screenshot Configuration Steer Controller 67 Figure 59 Formula Limit...

Страница 154: ...6 bit radii 145 Figure 83 Increased radius range through transformation 145 Figure 84 Resolution of the radius after transformation 145 Figure 85 Screenshot Software for setting t parameters of t Ethe...

Страница 155: ...mple commissioning parameters in Config Wheels Wheel 1 90 Table 18 Example commissioning parameters in Config Wheels Wheel 2 90 Table 19 Example commissioning parameters in Config Wheels CAN Interface...

Страница 156: ...1 Info 118 Table 43 CAN Rx Telegram Gyro 118 Table 44 CAN Rx Telegram Sensorfusion Position X heading aerea nr 119 Table 45 CAN Rx Telegram Sensorfusion Position Y heading status of navigation 120 Ta...

Страница 157: ...re only valid if the systems are used according to the description This instruction manual has been drawn up to the best of our knowledge Installation setup and operation of the device will be on the...

Страница 158: ...Innovation in Guidance G tting KG Celler Str 5 D 31275 Lehrte Tel 49 0 5136 8096 0 Fax 49 0 5136 8096 80 info goetting agv com www goetting agv com www goetting agv com...

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