Operation and communication
2
0
1
6
-0
9
63
5.2
Operation Using Control Codes
In numerous positioning system applications, defined processes (= event) must be started at
specific positions. This means that the exact positions must be defined via code tapes for
positioning, instead of simple colored tapes. In the context of lane tracking, it is advisable to
mark branches using control codes to facilitate the control of the direction decision.
The layout of the lane can be adjusted according to the application in question. If an automated
guided vehicle must be positioned exactly, a code tape is mounted for positioning purposes
instead of the colored tape. If an event needs to start at a particular position or a direction
decision needs to be made, a control code is mounted parallel to the actual lane.
Only a specific event and the associated process then have to be programmed into the system
controller. The position in which the corresponding control code is placed next to the colored
tape or code tape for positioning does not have to be determined until final commissioning.
Even if subsequent changes are made to the layout of a system, the relevant control code is
simply moved to the new position without requiring program modifications to be made.
Control codes are short code tapes one meter in length. The control code has an encrypted
number. Control codes exist with numbers ranging from 001 to 999.
7
No Position
Value X
X value if no
code tape is
visible
X data at "No
Position"
octet_string
Octet 0-3
Last Valid
Position (0)
Specified
Value (1)
No Position
Specific X
Position
Specific X
value
Octet 4-7
-2147483648
–
0
–
2147483647
8
No Position
Value Y
Y value if no
code tape is
visible
Y data at "No
Position"
octet_string
Octet 0-3
Last Valid
Position (0)
Specified
Value (1)
No Position
Specific Y
Position
Specific Y
value
Octet 4-7
-32768
–
0
–
32767
9
No Position
Value Angle
Angle output if
no colored
tape is visible
Angle data at
"No Position"
octet_string
Octet 0-3
Last Valid
Angle (0)
Specified
Angle (1)
No Position
Specific Angle
Position
Fixed angle
Octet 4-7
0
–
65535
10
Bandwidth
Width of the
colored tape
Width
unsigned32
10 mm
–
100
mm
18 mm
11
Color
Color of the
tape
Color
unsigned32
1 = blue (RAL
5015)
2 = green
(RAL 6032)
4 = red (RAL
3001)
8 = yellow
(RAL 1021)
12
Input Source
Selection
Selecting the
source of the
input data
Selection
unsigned32
0 = hardware
input
1 = software
(PDO)
Table 5.5
Bold
= default values
Subindex
Designation
Function
Parameter
data
Data type
Primary data