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HG G-73650-A
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Gotting HG G-73650-A manual available for free PDF download: Basics, Commissioning And Software
Gotting HG G-73650-A Basics, Commissioning And Software (76 pages)
Track Guidance Controller
Brand:
Gotting
| Category:
Controller
| Size: 2 MB
Table of Contents
Table of Contents
2
1 Introduction
5
Virtual Tracks
5
Suitable and Unsuitable Vehicle Types
6
How It Works
7
Steering Controller
7
System Structure
7
Sensor Fusion
8
Track Controller
8
Parameterization
9
Preconditions / Options
10
2 Guidance Control in Detail
11
Steering Controller
11
Segments
11
Table 1 Explanation of a Segment List with Support Points
12
The Segment File
12
Segment Search
14
Specifiying the Segments
14
Table 2 Example: Shifting of Segments - Part I
15
Table 3 Example: Shifting of Segments - Part II
15
Attributes
16
Offset Driving
16
Transmission of the Segments
16
Calculation of the Steering Angle
17
Feed Back Control
18
Feed Forward Control
18
Driving Modes
19
Idle Mode
19
Velocity Calculation
19
Automatic Mode
20
Modus Parameter Test
20
Vehicle Options: Fork Lift Vehicle
20
The Internal Sensor Fusion
20
Odometric System
21
Table 4 List of the Different Odometric Systems Available, Including Advantages
21
Sensors for Navigation
22
The Transponder Antenna
22
Transponder System for Positioning Calculation
22
Initialization of the Transponder Sensor Fusion
23
Transponder List
23
Sky-Trax
24
Vehicle Control Unit
24
Table 5 Explanation Transponder List
24
3 Interfaces
26
CAN Bus
26
Can 1
26
Can 2
26
Profibus
27
Ethernet
27
Serial Interfaces
27
Sio 1
27
Sio 2
27
Sio 3
27
Table 6 SIO 2 Protocols
27
Table 7 SIO 3 Protocols
27
Sio 4
28
Terminal
28
IO 1 to 4
28
Table 8 SIO 4 Protocols
28
4 Commissioning
29
Commissioning of Communication
29
Commissioning Terminal Program
30
Finding Hyper Terminal / Adding Hyper Terminal to the System
30
Parameter Settings
31
Using the Terminal Program
31
Table 9 Terminal Settings for the Monitor Program
31
Main Menu
32
A) Main Monitor Navigation
33
Monitor Outputs
33
Table 10 Main Monitor Navigation: Section "Vehicle
33
Table 11 Main Monitor Navigation: Section "Target
34
Table 12 Main Monitor Navigation: Section "Deviation
34
Table 13 Main Monitor Navigation: Section "Segment
34
Table 14 Main Monitor Navigation: Section "Error
35
Table 15 Main Monitor Navigation: Section "Steering
35
Table 16 Main Monitor Navigation: Section "Status
35
Input Options
36
B) Main Monitor Sensorfusion
36
Table 17 Main Monitor Navigation: Input Options
36
Table 18 Main Monitor Sensorfusion: Section Antenna 1
37
Table 19 Main Monitor Sensorfusion: Section Antenna 2
37
Table 20 Main Monitor Sensorfusion: Section Odometry
37
Table 21 Main Monitor Sensorfusion: Section Odometry 1
38
Table 22 Main Monitor Sensorfusion: Section Odometry 2
38
Table 23 Main Monitor Sensorfusion: Section Sky-Trax
39
Table 24 Main Monitor Sensorfusion: Section "Deviation Single
39
Table 25 Main Monitor Sensorfusion: Section "Deviation Double
39
C) Vehicle Monitor
40
D) Datalogging
40
Table 26 Main Monitor Sensorfusion: Section "Gyro
40
E) Test Monitor
41
Display Outputs
41
Table 27 Test Monitor: Section "Position
41
Input Options
42
Table 28 Test Monitor: Section "Odometric System
42
Table 29 Test Monitor: Section Actual and Nominal Steering Angle
42
Table 30 Test Monitor: Input Options
42
F) Error Logger
43
Table 31 Errorlogger: Vehicle Status
44
G) Parameters Navigation
50
A) Main
51
Table 32 Parameters Navigation > Main Menu
51
B) Geometric
53
Table 33 Parameters Navigation > Geometric
54
C) Accuracy
55
D) Steering
56
Parameters
56
Table 34 Parameters Navigation > Accuracy
56
Steering Correction
57
Table 35 Parameters Navigation > Steering
57
E) Stering Controller
58
Table 36 Parameters Navigation > Steering Controller
59
F) Speed Controller
61
Table 37 Parameters Navigation > Speed Controller
61
G) Sensor Fusion
62
Table 38 Parameters Navigation > Sensor Fusion
63
H) Vehicle Specials
64
I) Datalogging (Parameterization of the Output)
64
Display and Key Pad of the Control Unit
66
Status Output on the Display
66
Table 39 Display Control Unit: Section Sensor Fusion
66
Table 40 Display Control Unit: Section Bahnregler
67
Table 41 Display Control Unit: Section Bahnregler Vorgaben
67
Direct Input Options at the Control Unit
68
Table 42 Display Control Unit: Input Options
69
5 Trouble Shooting
70
Table 43 Trouble Shooting
70
6 List of Images
72
List of Tables
73
8 Essential Information for Reading this Manual
75
9 Copyright and Terms of Liability
76
Copyright
76
Exclusion of Liability
76
Trade Marks and Company Names
76
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