Charger

Basic

• x

The x-coordinate of the charging device in the AGV coordinate system.

Explanation:

• y

The y-coordinates of the charging device in the AGV coordinate system.

Explanation:

• switchDO
  

Definition: The ID of the charging DO. A value of -1 indicates that the DO does not exist.

Explanation:

• switchDOTimes
  Function to switch between Daylight Saving Time and Standard Time.

The number of attempts to turn the DO on and off.

Explanation:

• switchDODuration
  Specifies the duration of the switch DO operation in seconds. The default value is 300 seconds.

The charging indicator turns on and off intermittently while it is active.

Explanation:

• openDODist
  

The fixed path to charge is less than this distance, so the DO will open.

Explanation:

• chargeDI
  Charging Direct Injection

Definition: The ID of the DI triggered by charging. A value of -1 indicates that the DI does not exist.

Note: If this DI is triggered, it indicates that there is a charging signal for the AGV.

• openChargeDI
  Open Charge DI

Definition: The DI ID is triggered when the charging location is reached, and the charging DO is turned on. A value of -1 indicates that the DI does not exist.

Note: If this DI is triggered, turn on switch DO after stopping.

• chargeActionTime
  Time taken to charge the action.

Maximum time for automatic charging, timed at the start of the task.

Explanation:

• chargeStartTime
  Specifies the start time of the charging session.

It takes the longest time for the charger to power on.

Explanation:

• chargePathSpeed
  Speed of the charging path in meters per second.

Charging Speed

Explanation:

• recChargeAheadDist
  Recommended charging distance ahead of the vehicle.

Definition: Automatic Charging Front Distance

Explanation:

• recChargePlanAheadDist
  Specifies the recommended distance ahead of the vehicle at which the charging plan should be initiated.

Automatic Charging Planning Forward Distance

Explanation:

• recBeizer
  

Automatic charging using Bezier curve line planning

Description: If not, use two straight line segments. If yes, use a Bezier curve.

• recBeizerAheadDist
  Specifies the distance ahead of the current position to calculate the Bezier curve control points for the next segment of the route.

Automatic charging Bezier curve for front distance

Explanation:

• recBeizerPlanAheadDist
  Specifies the distance ahead of the vehicle to plan the trajectory using the Bezier curve.

Automatic charging Bezier curve planning for forward distance

Explanation:

• disableByEMC
  Disabling by EMC

Whether to turn off the charging DO when the snap stops.

Explanation:

• chargeUseOdo
  Use odometer readings to calculate the charge.

What it means: Use mileage mode when charging.

Explanation:

• recChargeUseTargetDir
  Specifies whether to use the target directory for recording charging data. If set to true, charging data is recorded in the target directory. If set to false, charging data is recorded in the default directory.

Definition: Determine whether to overlay the direction of the identification result with the direction of the charging point on the map.

Explanation:

• chargeDisableMotorTime
  Specifies the time in seconds after which the motor will be disabled during charging.

Charge the motor to enable the timer.

Explanation:

• autoShieldLaser
  Automatically shields the player when using a laser weapon.

Definition: Automatically add laser subtracting area.

Note: To prevent the laser point from blocking the charging station, the AGV cannot be charged.