Introduction 1

Commissioning 2

Update 3
SIMOVE
ANS+ ET User Interface 4
ANS+ 5
Initial configurations

Mapping 6
System Manual

Map engineering 7

Path engineering 8

Free path planning 9

Station engineering 10

Parametrization 11

Deployment 12

Track integration 13

Advanced information 14

Support 15

Appendix A

2.1.0
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens Aktiengesellschaft. The remaining trademarks in
this publication may be trademarks whose use by third parties for their own purposes could violate the rights of
the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens Aktiengesellschaft Copyright © Siemens 2021 - 2024.

Digital Industries Ⓟ 04/2024 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Table of contents

1 Introduction ........................................................................................................................................... 7
1.1 Requirements ...................................................................................................................... 7
1.2 Compatibility ....................................................................................................................... 8
1.3 Terms of use ........................................................................................................................ 9
1.4 Linux OS handling.............................................................................................................. 10
2 Commissioning .................................................................................................................................... 11
2.1 Required hardware and additional programs....................................................................... 11
2.2 Step-by-step commissioning guidance................................................................................ 12
2.2.1 Hardware setup ................................................................................................................. 12
2.2.2 Network configuration ....................................................................................................... 12
2.2.3 SIMOVE Carrier Control & Safety......................................................................................... 13
2.2.4 Odometry initial test .......................................................................................................... 13
2.2.5 Wheel odometry evaluation ............................................................................................... 16
2.3 ANS+ V2.1.0 installation .................................................................................................... 18
2.4 ANS+ NC module manual start ........................................................................................... 19
3 Update ................................................................................................................................................. 21
3.1 Preconditions..................................................................................................................... 21
3.2 ANS+ update from V2.0.0 to V2.1.0 ................................................................................... 23
3.3 ANS+ full update to V2.1.0 from V1.7.X and older .............................................................. 25
4 ANS+ ET User Interface ........................................................................................................................ 29
4.1 Starting the User Interface ................................................................................................. 29
4.1.1 Direct access ...................................................................................................................... 30
4.1.2 Remote access ................................................................................................................... 30
4.2 User interface login............................................................................................................ 34
4.2.1 Overview ........................................................................................................................... 34
4.2.2 Change password .............................................................................................................. 35
4.3 User Interface structure...................................................................................................... 37
4.3.1 Header .............................................................................................................................. 37
4.3.2 "Workspace" page .............................................................................................................. 38
4.3.3 "Workspace" page colors .................................................................................................... 41
4.3.4 "Parameter" page ............................................................................................................... 45
4.3.5 "Deployment" page ............................................................................................................ 48
4.3.6 "Status" page ..................................................................................................................... 49
4.4 ANS+ ET shortcuts ............................................................................................................. 52
4.5 Add and connect to a new device ....................................................................................... 53
4.5.1 Add and connect to a new device ....................................................................................... 53
4.5.2 Device handling on an AGV ................................................................................................ 53

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System Manual, 2.1.0 3
Table of contents

4.5.3 Device handling on an engineering or server PC ................................................................. 54

5 Initial configurations ........................................................................................................................... 55
5.1 Parameter setup ................................................................................................................ 55
5.2 ANS+ laser commissioning ................................................................................................. 58
6 Mapping............................................................................................................................................... 65
6.1 Mapping ............................................................................................................................ 65
6.2 Map wording ..................................................................................................................... 66
6.3 Feature detection............................................................................................................... 67
6.4 Usable feature types .......................................................................................................... 69
6.4.1 Line ................................................................................................................................... 69
6.4.2 Corners.............................................................................................................................. 69
6.4.3 Reflectors .......................................................................................................................... 70
6.4.4 Virtual lines ....................................................................................................................... 71
6.4.5 Cylinders ........................................................................................................................... 71
6.4.6 Line middle points ............................................................................................................. 72
6.5 General mapping process................................................................................................... 73
6.5.1 Feature Based Map ............................................................................................................ 73
6.5.2 Loop closure mapping process ........................................................................................... 78
6.5.3 Grid-based Map ................................................................................................................. 83
6.6 Map extension ................................................................................................................... 86
6.7 Global mapping examples .................................................................................................. 91
7 Map engineering ................................................................................................................................. 95
7.1 Feature-based map clearing ............................................................................................... 95
7.2 Map linking ....................................................................................................................... 98
7.3 Gridmap clearing and editing ........................................................................................... 102
7.4 Global map parametrization ............................................................................................. 105
7.5 Zone Engineering ............................................................................................................ 107
8 Path engineering ............................................................................................................................... 109
8.1 Layout concept ................................................................................................................ 110
8.2 Physical path engineering – Control points ....................................................................... 113
8.3 Align control points.......................................................................................................... 117
8.3.1 Align control points on a single path ................................................................................ 117
8.3.2 Align control points within two paths ............................................................................... 118
8.4 Logical path engineering – Ident points............................................................................ 119
8.5 Copy and move paths....................................................................................................... 123
8.6 Ident point commands ..................................................................................................... 124
8.7 Edge commands .............................................................................................................. 127
8.8 Common layout guidance ................................................................................................ 130
8.8.1 Circle ............................................................................................................................... 130

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4 System Manual, 2.1.0
 Table of contents

8.8.2 Junction .......................................................................................................................... 131

8.8.3 Dead end......................................................................................................................... 132
8.8.4 Parallel stations ............................................................................................................... 133
8.8.5 90-degree turn ................................................................................................................ 134
9 Free path planning ............................................................................................................................ 135
9.1 Costmaps ........................................................................................................................ 138
9.2 PLC commands for free path planning .............................................................................. 142
9.3 Visual Obstacle Avoidance (VOA) Module ......................................................................... 144
9.3.1 Overview ......................................................................................................................... 144
9.3.2 Supported Hardware ........................................................................................................ 144
9.3.3 Camera Mounting............................................................................................................ 144
9.3.4 Commissioning ................................................................................................................ 145
9.3.5 Operation ........................................................................................................................ 147
10 Station engineering ........................................................................................................................... 149
10.1 Generating a station template .......................................................................................... 150
10.2 Station template engineering ........................................................................................... 154
10.3 Station instance engineering............................................................................................ 157
11 Parametrization ................................................................................................................................. 163
11.1 Overview ......................................................................................................................... 163
11.2 Laser parameters ............................................................................................................. 167
11.3 Visual Obstacle Avoidance parameters ............................................................................. 170
11.4 Feature parameters.......................................................................................................... 173
11.4.1 Kalman Polar Lines........................................................................................................... 173
11.4.2 Kalman Corners ............................................................................................................... 175
11.4.3 Kalman Cylinders ............................................................................................................. 177
11.4.4 Kalman Reflectors ............................................................................................................ 179
11.4.5 Kalman LineMidPoints...................................................................................................... 181
11.5 Navigation parameters..................................................................................................... 184
11.6 Localization parameters ................................................................................................... 187
11.7 Motion parameters .......................................................................................................... 189
11.8 AGV shape (outline) ......................................................................................................... 192
12 Deployment ....................................................................................................................................... 197
13 Track integration................................................................................................................................ 201
14 Advanced information ....................................................................................................................... 207
14.1 Manual movement orders ................................................................................................ 207
14.2 Order Handling from PLC.................................................................................................. 211
14.3 Parameter Prioritization.................................................................................................... 213
14.4 Movement behaviors ....................................................................................................... 215
14.4.1 Default ............................................................................................................................ 215
14.4.2 Rotation on the spot ........................................................................................................ 217

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System Manual, 2.1.0 5
Table of contents

14.4.3 Movement direction on edge ........................................................................................... 218

14.4.4 Holonomic movement ..................................................................................................... 219
14.5 Layout export .................................................................................................................. 223
14.6 External Pose Interface..................................................................................................... 226
14.7 Map origin changes ......................................................................................................... 228
14.8 Laser configuration examples ........................................................................................... 233
14.8.1 SICK microScan3 Core/Pro ................................................................................................ 233
14.8.2 SickTIM 781 .................................................................................................................... 235
14.8.3 Sick NAV310 ................................................................................................................... 236
14.8.4 SICK nanoScan3............................................................................................................... 238
14.8.5 Leuze RSL455P................................................................................................................. 240
14.8.6 Pepperl&Fuchs R2000 ...................................................................................................... 245
14.8.7 Keyence SZ-V32N............................................................................................................. 252
15 Support .............................................................................................................................................. 259
15.1 Diagnostic Packages......................................................................................................... 259
15.2 Siemens Support Requests ............................................................................................... 261
A Appendix............................................................................................................................................ 265
A.1 Issue reference list ........................................................................................................... 265
A.2 Changelog ANS+ NC module ............................................................................................ 279
A.3 Changelog ANS+ Engineering Tool .................................................................................. 283
A.4 Service and Support......................................................................................................... 288
A.5 Links and Literature ......................................................................................................... 290
A.6 Changelog documentation............................................................................................... 291

ANS+
6 System Manual, 2.1.0
Introduction 1
1.1 Requirements

Note
This documentation is related to the ANS+ Engineering Tool (ANS+ ET) version 1.6.0 and ANS+
Navigation Control (ANS+ NC) module version 2.1.0.
All screenshots have been taken out of the universal SFTP and SSH tool “MobaXterm” in
combination with the SIMATIC IPC127E. Screenshots can differ in case of using the SIMATIC
Open Controller 2 device.

Requirements

Operating System on an engineering or server PC

• Windows 10

Files
• ANS+ Engineering Tool file package

Installed software
• Web browser, for example Google Chrome (preferred)
• Unzip software, for example 7-Zip
• SSH tool, for example Putty, MobaXterm
• SFTP tool, for example WinSCP, MobaXterm
• Network analyzer, for example PRONETA

Devices
• Manual AGV control device, (Laser) Measurement device

ANS+
System Manual, 2.1.0 7
Introduction
1.2 Compatibility

1.2 Compatibility
SIMOVE ANS+ is preferably used in combination with the SIMOVE Carrier Control system. To use
all SIMOVE features, it is recommended to use the latest versions of both systems. The
compatibility between those systems is as follows:

SIMOVE ANS+ and Carrier Control compatibility matrix

ANS+ NC V1.4.0 ANS+ NC V1.6.X ANS+ NC V1.7.X ANS+ NC V2.0.0 ANS+ NC V2.1.0
CC V3.0 X X X X** X**
CC V3.1 HF1 X* X X X** X**
CC V3.2 HF1 X* X X X** X**
CC V3.3 - X X X** X**
CC V3.3 Upd1 - X X X X**
CC V3.4 - X X X X

* Legacy SIMOVE Carrier Control ANS+ function block with limited functionalities
** SIMOVE Carrier Control ANS+ function block compatible with limited functional scope

ANS+
8 System Manual, 2.1.0
 Introduction
1.3 Terms of use

1.3 Terms of use

WARNING
User must secure access to the ANS+ ET
The ANS+ ET is a web-based application and has a limited user handling. It is the responsibility
of the user to log out in case of activated “Remember me” function. Furthermore, the user has
the responsibility to avoid access of third persons, who could misuse the tool for manipulation
of data, engineered tracks or identification points. Misuse by third persons can be avoided by
changing the default user passwords.

WARNING
AGV safety fields: Avoid collisions
To avoid collisions while driving manually or automatically with the ANS+ system, the safety
fields of the AGV always need to be commissioned and activated.

ANS+
System Manual, 2.1.0 9
Introduction
1.4 Linux OS handling

1.4 Linux OS handling

WARNING
System files sensitive to typing errors
Linux system files are sensitive to typing errors. Before saving and leaving files, ensure that no
mistype or wrong letter has been inserted into the file. Otherwise, it might be required to
reconfigure the Linux OS with an external monitor and keyboard in case of failures.

Note
No password characters in the terminal
In Linux based OS, it is common that password characters are not shown in the terminal. A
password therefore needs to be typed in blinded.

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10 System Manual, 2.1.0
Commissioning 2
2.1 Required hardware and additional programs
SIMOVE ANS+ requires hardware with the preinstalled operating system SIMATIC Industrial OS.
A description for the installation of Industrial OS on the IPC can be found within SIMATIC
Industrial OS (https://support.industry.siemens.com/cs/ww/en/view/109766374).

SIMATIC Industrial OS can be installed on an SIMATIC Open Controller 2 and the SIMATIC IPC.
There are different versions currently available within SIOS:
• SIMATIC Industrial OS v2.X (Debian 10),
• SIMATIC Industrial OS v3.X (Debian 11)

Starting with v2.X, ANS+ is provided within a Docker container. The tool docker-compose is
used for running multi-container Docker applications. Therefore, a YAML file is provided, to
start the services within docker-compose..
Docker and Docker-compose have to be installed at the Industrial OS in advance.

For the creation of this document, the toolbox MobaXTerm has been used. Alternatively, any
other SSH client such as PuTTY and other programs for file transfer such as WinSCP can be
used.

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System Manual, 2.1.0 11
Commissioning
2.2 Step-by-step commissioning guidance

2.2 Step-by-step commissioning guidance

This chapter provides an overview of relevant components and requirements, that have to be
commissioned and fulfilled before any ANS+ engineering process, such as mapping, is started.
The illustration provides a schematic overview of all mandatory steps in the required order.

Figure 2-1 Overview of commissioning steps

2.2.1 Hardware setup

Before adjusting any software, it is necessary to finish the hardware setup of the AGV. The
following list provides an exemplary overview of mandatory steps:
• Electrical wiring check
• Encoders referencing
• Laser scanner mechanical alignment

2.2.2 Network configuration

As a next step, the network configuration of the AGV needs to be commissioned. The main
components are:
• PROFINET devices:
TIA Portal can be used to configure IP addresses of PROFINET devices.
• SIMATIC Industrial OS:
To adjust the SIMATIC Industrial OS IP permanently, follow the guidance described in the
Industrial OS manual, e.g. using the tool “nmtui”.
• Laser scanner:
Each laser scanner device has its own configuration software tool. This tool is provided on the
related manufacturer’s webpage. Chapter Laser configuration examples (Page 233) provides
configuration examples for ANS+ compatible laser scanner devices.

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12 System Manual, 2.1.0
 Commissioning
2.2 Step-by-step commissioning guidance

See also
Add and connect to a new device (Page 53)

2.2.3 SIMOVE Carrier Control & Safety

When the hardware and network commissioning is finished, the next step is to integrate and
adjust the PLC program.
Three main functions need to be finalized before commissioning ANS+:
• Safety:
The completion of the AGV safety program is needed for navigating with ANS+. When driving
automatically, safety must be fully commissioned and always activated.
• SIMOVE Carrier Control:
The Carrier Control (CC) library provides customers with necessary functions to set up and
operate an AGV with Siemens automation technology. A detailed explanation in how to set
up the Carrier Control library can be found in the document “ Getting Started”, which can be
obtained via a Siemens Service Requests (see chapter Siemens Support Requests (Page 261)).
• Wheel odometry:
A mandatory part of the SIMOVE Carrier Control library for ANS+ is the so called “wheel
odometry”. This specific program calculates a relative pose out of encoder values related to
the startup position of the AGV. This pose data is sent to the ANS+ and used for sensor fusion.
As SIMOVE ANS+ relies on this data, the precision needs to be as high as possible. The
chapter Odometry initial test (Page 13) provides more details on how to evaluate the
configured wheel odometry.

2.2.4 Odometry initial test

Note
SIMOVE CC Getting Started
PLC specific information related to the wheel odometry is described in the document “SIMOVE
CC Getting Started”, which can be obtained via a Siemens Service Requests, see chapter Siemens
Support Requests (Page 261).

As wheel odometry is used for sensor fusion in SIMOVE ANS+, the data must be as precise as
possible. Therefore, this chapter describes a process for testing and evaluating the configured
wheel odometry, which is calculated by the SIMOVE Carrier Control library.

ANS+
System Manual, 2.1.0 13
Commissioning
2.2 Step-by-step commissioning guidance

To test and evaluate the wheel odometry, an industrial manual control device for a related
AGV is required.

WARNING
Keep safety fields active
While driving manually with the manual control device, the safety fields always need to be
commissioned and activated.

1. Start the ANS+ ET and connect to the web-based UI as described in chapter ANS+ ET User
Interface (Page 29).
2. Connect to the related device in the “Favorite Devices” list, as described in chapter Add and
connect to a new device (Page 53).
3. If the "Environment window" displays maps, hide all maps by clicking .
4. If the device visualization is deactivated , click the icon in the device window. The icon
changes to for an active device visualization.
5. To display AGV history data, use the “visualization configuration panel”.
Click in the world window.
6. Activate “Wheel odometry” and “Laser odometry”.

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14 System Manual, 2.1.0
 Commissioning
2.2 Step-by-step commissioning guidance

7. Before proceeding with an evaluation, ensure that the following tests have been done/passed

Test Task Expectation Possible failures

“vehicle” interface con‐ Any manual movement “Odo” values change • Stopped PLC
nection and wheel odometry • PLC program failure
history data is visual‐
ized in ANS+ ET • Wrong network
configuration
Positive translation Manual movement in “Odo X” value increases • PLC program fail‐
check +X direction ure.
Negative translation Manual movement in “Odo X” value decreases • Drive commission
check -X direction failure
Positive holonomic Manual movement in “Odo Y” value increases
translation check +Y direction
Negative holonomic Manual movement in “Odo Y” value decreases
translation check -Y direction
Positive rotation check Manual counterclock‐ “Odo A” value increases
wise rotation
Negative rotation check Manual clockwise rota‐ “Odo A” value decreases
tion

8. In case of a transferred odometry and established connection between the device and the
ANS+ ET, the wheel odometry data will be visualized in the world window.

ࡳ
ࡴ

① Laser odometry
② Wheel odometry
③ Maps are hidden
Figure 2-2 Wheel and laser odometry check with manual movements

ANS+
System Manual, 2.1.0 15
Commissioning
2.2 Step-by-step commissioning guidance

Note
Laser odometry compensates wheel odometry failures
If the wheel odometry and the laser parameter are commissioned, the laser odometry
demonstrates a similar curve history as the wheel odometry. As the laser odometry can
compensate wheel odometry failures, the laser odometry history represents a more accurate
curve related to the physically driven path.

See also
Remote access (Page 30)

2.2.5 Wheel odometry evaluation

Note
Position accuracy
The odometry plays an important part in position accuracy of the entire AGV. Therefore, the sent
odometry needs to be as accurate as possible.
A precise wheel odometry calculation has a failure tolerance of less than 1 % difference between
physical measurement and software calculation for translation and rotation.

Before the evaluation process can be started, the wheel odometry initial test must be
successfully finished, as described in chapter Odometry initial test (Page 13).
To evaluate the precision of the wheel odometry, it is necessary to compare the calculated
data to a physical reference value. For this test, the AGV is moved manually with a manual
control device in a specific direction, for example +X direction. When the AGV is completely
stopped, the driven distance is physically measured and compared with the calculated
software values. For this purpose, a laser measurement device is helpful to receive the
highest measurement accuracy.
The following process is used for wheel odometry evaluation:
1. Reset the PLC wheel odometry values.
2. Mark the current AGV position on the floor.
3. Move the AGV with a manual control device in a specific direction for a certain distance, for
example 1 m.
4. Once the AGV has stopped, measure the physically driven distance with a (laser)
measurement device under consideration of the previously marked position.
5. Compare the calculated wheel odometry data, which can be seen in the Carrier Control
program at "MoveCtrl"-FB’s output "position", with the physically driven distance and
calculate the related failure percentage.
6. To receive a precise reference value, repeat these steps at least three times for each test case
in the table.

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16 System Manual, 2.1.0
 Commissioning
2.2 Step-by-step commissioning guidance

Intended Odometry value Measured Error [%]

±X/±Y 1000 mm
-1000 mm
2000 mm
-2000 mm
3000 mm
-3000 mm
± Rotation 90 deg
-90 deg
360 deg
-360 deg
2 * 360 deg
2 * -360 deg
3 * 360 deg
3 * -360 deg

In case of a failure of more than 2 %, adjust the wheel odometry calculation to reduce the
odometry failure.

WARNING
Wheel odometry tests
All wheel odometry tests need to be done on every AGV and after each change, which effects
the wheel odometry calculation.

ANS+
System Manual, 2.1.0 17
Commissioning
2.3 ANS+ V2.1.0 installation

2.3 ANS+ V2.1.0 installation

This chapter describes an ANS+ software installation, that can be requested through a Support
Request. The following procedure provides a step-by-step guidance:
1. Connect to the Industrial OS with a SFTP and SSH tool and create a folder "simove_ans+"
within your home directory.
mkdir simove_ans+
2. Use a SFTP tool to copy the zipped folder "simove_ans+_v200_bundle.tar.gz" which includes
the SIMOVE ANS+ software into the folder "simove_ans+".
The file can be received via "SIMOVE ANS+" SIOS Service Request, described in
chapter Siemens Support Requests (Page 261).
3. Extract the folder and load the included docker image.
cd simove_ans+
tar -xzf simove_ans+_v210_bundle.tar.gz
docker load -i simove_ans_v2p1p0.image
4. Start the application (nav_ctrl, map_engine and engineering tool).
docker-compose up -d
Note
The prefix "sudo" might be required, due to the docker settings.
Start the ANS+ NC module individually to monitor the terminal output. Therefore, follow the
instructions of chapter ANS+ NC module manual start (Page 19).

Figure 2-3 Successful start of all SIMOVE ANS+ modules

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18 System Manual, 2.1.0
 Commissioning
2.4 ANS+ NC module manual start

2.4 ANS+ NC module manual start

For commissioning, it is helpful to start the ANS+ NC module manually to see all logs and
information on the SSH terminal screen. For a manual start, follow the below described process:
1. Start a SSH tool and connect to the SIMATIC Industrial OS.
2. Navigate into the ANS+ directory, where the docker-compose file is located.
3. Stop the nc module manually within an open terminal.
docker-compose stop nc
4. Start the nc module manually within an open terminal.
docker-compose run nc
The text "All systems running." confirms a successful start of the ANS+ navigation control
module with no parameter or layout failure.
In order to undo the manual start of the ANS+ NC module and switch back to the autostart
routine, follow the steps below:
1. Shut down the ANS+ NC module by either closing the terminal or pressing CTRL+C within the
terminal.
2. Determine and start all modules within the autostart in the background.
docker-compose down
docker-compose up -d

ANS+
System Manual, 2.1.0 19
Commissioning
2.4 ANS+ NC module manual start

ANS+
20 System Manual, 2.1.0
Update 3
3.1 Preconditions
To update the ANS+ NC module and/or the ANS+ ET modules, a complete backup of the system
must be done. There are two possible backup options:
• Full image: This approach is preferred, as the entire OS is saved with all its configurations. To
create a full image of the device, follow the product specific backup procedure.
• "simove_ans+" directory: Another approach is to copy the default directory "simove_ans+" on
the OS.

Version specific preconditions

Starting with v2.1, ANS+ is containerized. SIMATIC Industrial OS therefore provides the
software “Docker", to load containerized images onto the system. The tool docker-compose
is used for running multi-container Docker applications. Therefore, a YAML file is provided, to
start all services.
Docker and Docker-compose have to be installed at the Industrial OS in advance.

ANS+
System Manual, 2.1.0 21
Update
3.1 Preconditions

The following procedure provides a step-by-step guidance to create a copy of the

"simove_ans+" directory on the related OS:
1. Open an SFTP and SSH connection to the related operating system.

ੀ ੁ

① SFTP file system

② SSH terminal
③ /home/agv/
Figure 3-1 Directory setup before updating the SIMOVE ANS+

2. To create a directory copy, follow the below listed exemplary commands in the listed order:
cd /home/agv/
sudo cp -R simove_ans+/ 20210929_simove_ans+_bkp/

① Copied backup
Figure 3-2 Successfully created SIMOVE ANS+ backup directory

See also
ANS+ update from V2.0.0 to V2.1.0 (Page 23)
ANS+ full update to V2.1.0 from V1.7.X and older (Page 25)

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22 System Manual, 2.1.0
 Update
3.2 ANS+ update from V2.0.0 to V2.1.0

3.2 ANS+ update from V2.0.0 to V2.1.0

This chapter describes an ANS+ update process starting from V2.0.0 to V2.1.0.
The following procedure provides a step-by-step guidance:
1. Connect to the Industrial OS with a SFTP and SSH tool.
2. Shut down the V2.0.0 docker container.
cd simove_ans+
docker-compose down
3. Check if all ANS+ containers are down.
docker ps

Figure 3-3 Successful stop of ANS+ modules

4. Rename the old ANS+ folder e.g. to "simove_ans+_old".

5. Create a new simove_ans+ folder.
mkdir simove_ans+
6. Use a SFTP tool to copy the zipped folder "simove_ans+_v210_bundle.tar.gz" with the Simove
ANS+ image into the folder "simove_ans+".
7. Extract the folder and load the included docker image.
tar -xzf simove_ans+_v210_bundle.tar.gz
docker load –i simove_ans_v2p1p0.image
8. Start the application (nav_ctrl, map_engine and engineering tool).
docker-compose up -d

Figure 3-4 Successful start

After successful upgrade, the parameters must be adjusted. Therefore, it is recommended to

open the old user-def file and copy the necessary sections to the new user-def file.

ANS+
System Manual, 2.1.0 23
Update
3.2 ANS+ update from V2.0.0 to V2.1.0

Following sections should be copied from the V2.0.0 user-def:

• Section: Laser
• Section: Robot
• Section: Motion Vehicle
Important: The unit for "Omega Max" and "A Omega Max" has been changed from V2.0.0 to
V2.1.0. (changed rad to deg).
• Section: Route Map
• Section: Odometry Buffer
• Section: Motion AGV
• Section: Motion Static Loader
• Section: Motion Flow Kraken Controller
• Section: Motion Path Planner
If there were done changes in the Kalman parameters, these changes should be copied as
well.

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3.3 ANS+ full update to V2.1.0 from V1.7.X and older

3.3 ANS+ full update to V2.1.0 from V1.7.X and older

This chapter describes an ANS+ update process starting from any old version (e.g. V1.7.0) to
V2.1.0.
The following procedure provides a step-by-step guidance:
1. Connect to the Industrial OS with a SFTP and SSH tool.
2. Disable the autostart behavior and stop the modules.
systemctl disable ans-et
systemctl disable ans-nc
systemctl stop ans-et
systemctl stop ans-nc

Figure 3-5 Stopping SIMOVE ANS ET and NC modules and disabling autostart behavior

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3.3 ANS+ full update to V2.1.0 from V1.7.X and older

3. Check if the procedure was successful and if both modules are stopped.
systemctl status ans-et
systemctl status ans-nc

Figure 3-6 Successful stop of SIMOVE ANS ET and NC modules

4. Make sure to create a backup first, before removing the files as described previously.
5. Remove the files with the following commands:
cd /home/agv/
rm -rf simove_ans+
mkdir simove_ans+
6. Use a SFTP tool to copy the zipped folder "simove_ans+_v210_bundle.tar.gz" with the Simove
ANS+ image into the folder "simove_ans+".
7. Extract the folder and load the included docker image.
tar -xzf simove_ans+_v210_bundle.tar.gz
docker load -i simove_ans_v2p1p0.image
8. Start the application (nav_ctrl, map_engine and engineering tool).
docker-compose up -d

Figure 3-7 Successful start

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Note
Start the ANS+ NC module individually to monitor the terminal output.
The prefix "sudo" might be required, due to the docker settings.

See also
Preconditions (Page 21)
Siemens Support Requests (Page 261)
Support (Page 259)

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28 System Manual, 2.1.0
ANS+ ET User Interface 4
4.1 Starting the User Interface
The ANS+ ET is a web-based application. The following illustration shows an example screenshot
of the User Interface (UI) with real data.

Figure 4-1 ANS+ ET UI workspace window

Web browsers
The tool is compatible with the following web browsers:
• Google Chrome (preferred)
• Mozilla Firefox
• Microsoft Edge

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4.1 Starting the User Interface

Using the ANS+ ET

There are two ways to use the ANS+ ET and to commission multiple AGVs:
• Remote access:
The ANS+ ET is installed on an engineering or server PC, which is configured to have a
working network connection to all related AGVs. All changes done on the PC need to be
deployed to all related AGVs.
• Direct access:
For small projects with no server PC, a direct access to the UI is possible. In this setup, the user
is directly connected to the AGV’s data content and therefore engineers on the AGV itself. File
deployment is not required in this case.

4.1.1 Direct access

By default, on the latest SIMOVE release images, all modules of ANS+ and the ANS+ ET are
started within the boot process of the operating system.
It is only required to start a web browser with usage of the AGVs IP address and the default
ET communication port “2002”:
http://<IP>:2002/
<IP> is the space holder for the IP address of the corresponding AGV that needs to be
engineered.
Now, the web browser displays the user interface of the ANS+ ET.

4.1.2 Remote access

To be able to start the ANS+ ET on an engineering or server PC, it is necessary to have the zipped
file package of the latest ANS+ ET release version.
Example:
• "SIMOVE_ANS+_v210_Win10.zip"
The file name provides the following information:
• "v210" : release version (2.1.0)
• "Win10": related operating system (Windows 10).

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4.1 Starting the User Interface

Preparing the file package

To start the ANS+ ET on a Windows 10 based PC:
1. Unzip the ET file package to a directory, where you have writing permissions.
A folder is created, which contains "workspace", "dataspace" and "external dependencies"
directories.
2. Update the Windows system environment variables:
– Open the Windows environment variables screen and add a new user variable.

Figure 4-2 Adding a new environment variable to Windows 10

– Press "OK" to apply the settings.

– Select the variable "Path" and click on "Edit".

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4.1 Starting the User Interface

– Add a new list entry to the variable:

%ANS_SIMULATION_PATH%

Figure 4-3 Appending a new entry to the existing environment variable "Path"

– Apply the settings of all windows by pressing "OK".

3. Navigate into the "workspace" directory within the previously unzipped file package.
A folder structure is displayed.

Figure 4-4 Default workspace folder structure of the ANS+ ET Windows 10 file package

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4.1 Starting the User Interface

4. By executing the batch file "ans+_et_<ver.>_win10.bat", all ANS+ modules are started one
after another.

Figure 4-5 ANS+ started on Windows 10 after executing the batch (.bat) file

5. To use the user interface (UI) of the ANS+ ET, open one of the supported web browsers with
the following link address:
http://localhost:2002/
The web browser displays the UI of the ANS+ ET, visualized in chapter Starting the User
Interface (Page 29).

See also
Deployment (Page 197)
General mapping process (Page 73)

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4.2 User interface login

4.2 User interface login

4.2.1 Overview

Login
The ANS+ ET UI version can only be accessed by logging in. The login screen is displayed as the
default screen when accessing the ANS+ ET web page.

Figure 4-6 ANS+ ET login screen

WARNING
User is not logged out in case of activated "Remember me"
A login can be saved by activating the checkbox "Remember me". The user is not logged out
even if the browser tab is refreshed or closed.

The table provides an overview of the specified users for the ANS+ ET.

User Default password Allowed functions

Guest Only visualization
Operator simove123! Visualization and maintenance
with selected functions:
• Set pose
• Cancel
• Acknowledge
Admin simoveagv Full access to all functions

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4.2 User interface login

Note
Specified users for each ANS+ ET setup
It is not possible to add new users to the data space of the ANS+ ET or to delete existing ones.
The users are specified for each ANS+ ET setup, on an AGV or on an engineering PC.

Logout
If “Remember me” is not checked, the user is logged out automatically once the browser tab is
refreshed or closed.
To logout manually click the user's button and select "Logout".

4.2.2 Change password

The ANS+ ET provides the possibility to change the password of a user.
1. Click the user's button.

Figure 4-7 ANS+ ET user password change access

2. Select "Change password".

3. Enter the current password.
4. Enter the new password and confirm the new password.
The new password must be different from the current one.

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4.2 User interface login

5. Select "Submit".

Figure 4-8 ANS+ ET user password change screen

If all entries are correct the password will be changed.

6. Click "Continue to login".
7. Login with the new password.

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4.3 User Interface structure

4.3 User Interface structure

4.3.1 Header
The tool shows four main pages with different functions:

Workspace The main engineering page to change maps or to add paths

Parameters ANS+ NC module parametrization
Deployment Project commitment and distribution of files
Status ANS+ NC pending error and warning visualization

These pages can be accessed via the header of the UI. Select the corresponding tab, to switch
between the pages.
The blue line underneath a tab indicates the currently active page.

ੀ ੁ ੂ੃
① Pages
② Logged in user
③ ANS+ System Manual
④ ANS+ ET software information
Figure 4-9 ANS+ ET window header

The header provides the following tools:

• Project name:
The project name text field can be used to differentiate several ANS+ ET instances. To change
the text, click into the box and change the name. Confirm the changes with <ENTER>.
Note
Change project name
The text is saved permanently and can only be changed by the user "Admin".

• ANS+ System Manual:

The "ANS+ Engineering Manual" can be directly accessed within the web browser by
clicking .
• ANS+ ET software information:
By clicking the tool visualizes general information about the ANS+ ET software and OSS.

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4.3 User Interface structure

4.3.2 "Workspace" page

In the "Workspace" page, the main engineering takes place. Within this page multiple functions
can be done:
• Engineering and visualization of maps, features and paths
• Visualization of the AGV related data, for example laser data or shape
• Engineering and visualization of station templates and instances

ࡷ ࡳ ࡴ ࡵ

ࡸ ࡻ

ࡹ ࡼ

① Workspace toolbar ⑥ Environment window

② Dynamic toolbar ⑦ World window
③ Element window ⑧ Visualization configuration panel
④ AGV command toolbar ⑨ Properties window
⑤ Device window ⑩ Notifications
Figure 4-10 ANS+ ET "Workspace" page and related windows

Windows
To handle the different functions, the general layout of the "Workspace" page has been divided
into several windows:

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4.3 User Interface structure

Device window
This window provides a list of different devices and can be toggled between two different
views:
• "Favorite Devices"
"Favorite Devices" is displayed by default.
To add a single or multiple devices to the “Favorite Devices” list, refer to chapter ANS+ ET
shortcuts (Page 52).
• "AGV pool"
To toggle the view and to visualize the "AGV pool", click on the list icon .
Within the list, all added AGVs are listed.
Each device has its own status indicator which can be seen in "Favorite Devices":
• Green: No pending issues
• Orange: Warnings
• Red: Errors
By clicking the indicator, the UI navigates the user directly to the “Status” page to visualize all
pending issues.

① Status indicator
Figure 4-11 Status indicator “Workspace” page

AGV command toolbar

If the device is connected, the AGV command toolbar opens by clicking . This toolbar is
used to send specific commands to the ANS+ NC module, for example, order cancelation or
start recording.

Element window
Visualization of all path elements and their control points and ident points, that belong to
the selected map.

Environment window
Visualization of all maps and stations, that have been found by the tool in its "atlas" directory.

Properties window
Depending on the selected element (Map, Path, Edge, Feature, Control point, Ident point),
the corresponding properties are displayed.

World window
Visualization of all features and paths, that belong to the selected map in the "Map window".

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4.3 User Interface structure

Visualization configuration panel

This panel is used to configure the world window visualization, for example, to visualize AGV
related data such as laser beams.

Figure 4-12 Visualization configuration panel within "Workspace" page

Toolbars
A user has to select an element before it can be changed. After the selection, the corresponding
functions are displayed and can be used.

Workspace toolbar
The Workspace toolbar provides general functions, such as zoom and view movement.
As those functions are generally valid in the ANS+ ET "Workspace" page, the toolbar will not
change in relation to a selected element.

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4.3 User Interface structure

Dynamic toolbar
The Dynamic toolbar provides element (AGV, Map, Path, Feature, Control point, Ident point)
specific functions.
The toolbar will change its icons displayed depending on the selected element, to enable the
relevant functions.

See also
Add and connect to a new device (Page 53)

4.3.3 "Workspace" page colors

Within the ANS+ ET "Workspace" page there are several different colors.

Figure 4-13 Workspace UI - Feature colors

Figure 4-14 Workspace UI - Path colors

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4.3 User Interface structure

Figure 4-15 Workspace UI - Laser colors

Figure 4-16 Workspace UI - Cameras

Figure 4-17 Workspace UI - History colors

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Figure 4-18 Workspace UI - Visualization colors

Figure 4-19 Workspace UI – Outline and origin colors

Figure 4-20 Workspace UI - Interface colors

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4.3 User Interface structure

Figure 4-21 Workspace UI - Zones colors

Figure 4-22 Workspace UI - Gridmap colors

Figure 4-23 Workspace UI - Costmap colors

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Figure 4-24 Workspace UI - Notifications colors

Figure 4-25 Workspace UI - Multi selection colors

4.3.4 "Parameter" page

The "Parameter" page is used to parametrize ANS+ NC modules in the "Favorite Devices" list.
Additional parameters are displayed, when selecting "Advanced configuration" within the
Parameter page.
A detailed parameter description of all "user_def" parameters is provided in chapter
Parametrization (Page 163).

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4.3 User Interface structure

ࡳ
ࡴ
ࡵ

① Parameter toolbar
② File tabs
③ Device window with related parameter files
④ Parameter window
Figure 4-26 ANS+ ET "Parameter" page and related windows

Elements
This ANS+ ET parameter page provides the following UI elements for the configuration:

Device window
This window provides a list of different devices and can be toggled between two different
views:
• "Favorite Devices"
"Favorite Devices" is displayed by default.
To add a single or multiple devices to the "Favorite Devices" list refer to chapter ANS+ ET
shortcuts (Page 52).
When connected to the AGV, the "localhost" is being displayed.
• "AGV pool"
To toggle the view and to visualize the "AGV pool", click on the list icon .
Within the list, all added AGVs are listed.
Each device has its own parameter files, which can be seen by expanding the device tree
navigation.

Parameter window
This window visualizes all parameters related to the selected file.
Furthermore, by activating the switch , the related parameter is not shown and therefore
unconsidered by the ANS+ NC module.

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4.3 User Interface structure

Localhost
When selecting the "localhost", the user_def data, that should be edited during the
commissioning is being displayed.
The selector switch "Advanced configuration" can be selected to visualize the advanced
parameters of the system, like the local and global planner parameter for obstacle avoidance.

Note
When adjusting values within the "Advance configuration", changes should be made with
caution Be aware that this will affect the driving behavior drastically.

Note
Case sensitive
All parameters and values are case sensitive.
When changing a value, the user must stick to the displayed default value format.
Otherwise, the value will not be read by the ANS+ system.
In that case, the system will use the default parameter value as a fallback solution.

WARNING
Restart of the ANS+ NC module
To save parameter changes, it is necessary to restart the ANS+ NC module. Fur further
information regarding a ANS+ NC restart, refer to chapter "Status" page (Page 49).

See also
Overview (Page 34)

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4.3 User Interface structure

4.3.5 "Deployment" page

The "Deployment" page of the ANS+ ET allows to upload files (parameter or map files) from the
AGV to the remote computer or to download files from remote to the AGV.

ࡳ
ࡴ

ࡵ
ࡶ

① Deployment toolbar
② Device window
③ History window
④ Properties window
Figure 4-27 ANS+ ET "Deployment" page

Elements
This page contains the following elements:

Devices window
This window provides a list of different devices and can be toggled between two different
views:
• "Favorite Devices"
"Favorite Devices" is displayed by default.
To add a single or multiple devices to the “Favorite Devices” list, refer to chapter ANS+ ET
shortcuts (Page 52).
• "AGV pool"
To toggle the view and to visualize the "AGV pool", click on the list icon .
Within the list, all added AGVs are listed.

History window
This window visualizes a list of all previously done commits of the related device.

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4.3 User Interface structure

Properties window
This window provides an overview of relevant information on the latest commit.

Toolbar
The toolbar contains all functions of the related deployment page. Upload ( , ) and
download ( , ) functions of parameters and map files can only be used if at first a
naming conflict is fixed and if both systems are set into a committed stage .

See also
Deployment (Page 197)

4.3.6 "Status" page

The “Status” page is used to visualize all currently outstanding errors and warnings related to a
selected device.

ੀ
ੁ
ੂ

੃ ੄

① Status toolbar
② Device window
③ Issue window
④ Properties window
⑤ Diagnostic package window
Figure 4-28 ANS+ ET "Status" page and related windows

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4.3 User Interface structure

Elements
This page contains the following elements:

Devices window
This window provides a list of different devices and can be toggled between two different
views:
• "Favorite Devices"
"Favorite Devices" is displayed by default.
To add a single or multiple devices to the “Favorite Devices” list, refer to chapter ANS+ ET
shortcuts (Page 52).
• "AGV pool"
To toggle the view and to visualize the "AGV pool", click on the list icon .
Within the list, all added AGVs are listed.
Each device has its own status indicator:
• Green: No pending issues
• Orange: Warnings
• Red: Errors

① Status indicator
Figure 4-29 Status indicator "Status" page

Issue window
This window visualizes a list of all currently pending errors and warnings of the selected
ANS+ NC module.

Properties window
This window provides an overview of relevant information on the selected device.

Toolbar
The toolbar contains all functions of the related status page: Restart the selected ANS+ NC
module , acknowledge all cleared errors and cancel all currently outstanding tasks .

WARNING
Restart of ANS+ NC module
The "restart device" function requires the provided docker-compose.yml.
If this file was edited to manually start the ANS# NC module, the function leads only to a
shutdown of the ANS+ NC and requires a manual restart of the module.

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4.3 User Interface structure

Note
Acknowledge an error
Before an error is acknowledgeable, the cause of error needs to be solved. For example, a failure
within a sent order requires an order cancelation.
Otherwise, the acknowledge action has no impact and the error is still listed as pending.

More details about an error or warning related issue number are listed in chapter Issue
reference list (Page 265).

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4.4 ANS+ ET shortcuts

4.4 ANS+ ET shortcuts

Within the ANS+ ET, there is a set of shortcuts to access different functions in a faster way,
explained in the following table.

Name Key combination Related to page Description

Save <CTRL + S> General Save all changes
Undo <CTRL + Z> General Undo the latest changes
Fit map <CTRL + F> Workspace Fit the currently selected map
into the grid
Refresh atlas <CTRL + R> Workspace Refresh the atlas directory
Delete <DEL> Workspace Delete the currently selected
element
Map movement <SHIFT Workspace Press and hold <SHIFT> to
+ Left mouse button> move the map in the grid
Control point merge <CTRL> Workspace Press and hold <CTRL> to
merge a new or selected con‐
trol point with the position of
an existing control point.
Requires: Control point selec‐
tion
Ident point merge <CTRL> Workspace Press and hold <CTRL> to
merge a new or selected ident
point with the position of an
existing ident point.
In this case, the new or selec‐
ted ident point will use the
UID (Unique Identifier), posi‐
tion and description of the ex‐
isting ident point.
Requires: Ident point selec‐
tion
Multi element selection <CTRL Workspace Remove or add map-related
+ left mouse button> elements to a current single
or multi selection.
Element selection <CTRL + A> Workspace Select all map-related ele‐
ments of a specific type, if a
single element (for example
feature, control point, …) is
picked.

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 ANS+ ET User Interface
4.5 Add and connect to a new device

4.5 Add and connect to a new device

4.5.1 Add and connect to a new device

To be able to use the complete online functionality of the ANS+ ET, it is necessary to have at least
one working connection of the tool to a device.
Depending on whether the tool is used on a server PC or directly on an AGV, the workflow of
the used devices differentiates.

Note
Network communication required
For a successful connection between a device and the ANS+ ET, it is necessary to have a working
network communication with the related AGV.
If a first connection attempt fails even with a working network setup, retry the connection
attempt in the UI.

If the ANS+ ET is not able to connect to a device, check the following:

1. Wait for a few seconds and retry to establish the connection.
2. Check the connection between your host PC and the AGV (for example “ping” test).
3. Check if all modules of the ANS+ are running without failure on the AGV and on the host PC.

4.5.2 Device handling on an AGV

For this workflow, it is not necessary to add new devices to the ANS+ ET dataspace, as all changes
affect the already existing “localhost” device.
1. To start the UI directly on an AGV, refer to chapter Direct access (Page 30).
2. If the “localhost” device is not listed in the “Favorite Devices” list, click on , check the related
checkbox of “localhost” and press again to apply the configuration.
3. Connect the ANS+ ET with the device by clicking on the connect button .
In case of a successful connection, the icon changes its design to . Otherwise, after a
timeout detection, the tool displays an error message.

Figure 4-30 Establish a direct connection between the tool and the ANS+

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4.5 Add and connect to a new device

4.5.3 Device handling on an engineering or server PC

For a remote connection between the ANS+ ET and an AGV, the following process is required:
1. Start the ANS+ ET and connect to the web-based UI as described in Remote access (Page 30).
2. To add an AGV to the "AGV pool" list, press .
The dialog "Add new device" is opened.

Figure 4-31 Adding a new device to the ANS+ ET

Provide the following information:

– Name: Name of the device, which will be displayed.
– IP: IP-Address of the SIMATIC Industrial OS on the related AGV.
– Port: If you are using ANS+ ET with its default port configuration, do not change the port
(“2000”).
Otherwise, change the number to the new configured port of the “Service Proxy” module.
3. To add the AGV to the “Favorite Devices” list, click .
4. Check the related checkbox.
5. Press again to apply the configuration.
6. Connect the ANS+ ET with the AGV by clicking .
In case of a successful connection, the icon changes its design to . Otherwise, after a
timeout detection, the tool displays an error message.

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Initial configurations 5
5.1 Parameter setup
The parameter page "Parameter" page (Page 45) visualizes all parameters related to the selected
vehicle. By default, the "localhost" is preselected. When configuring the parameter for the first
time, the following parameters have to be configured:
• Section: Vehicle Interface
– Kinematics
• Section: Laser X
– Connection
– Transformation
– Start Angle
– End Angle
– Resolution
– Upside Down
• Section: Robot
– Outline Point
• Section: Motion AGV
– Enable
• Section: Motion Vehicle
– V Max
– A Max
– A Max Decel
– Omega Max
– A Omega Max
– A centripetal Max

Additional information:
The "Enable" attribute within the Section "Motion AGV" enables the free path planning and
obstacle avoidance. Therefore, the velocity setpoints within the section "Motion Vehicle"
and "Motion Path Planner" are required. The setpoints should be aligned with the defined
PLC velocity setpoints. Also, within the section "Motion Static Loader", the related map file
(<MapName>.yaml) that is used for the global and local planner, needs to be specified.

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5.1 Parameter setup

Within the section "Motion Flow Kraken Controller" the alternative trajectories, that are used
for obstacle avoidance, can be configured.

Note
If the lateral or longitudinal distances need to be adjusted, please only edit the already existing
values within the section.

The longitudinal distances are specifying all alternative trajectories in +X direction, as shown
with the green lines in the figure below. The lateral distances are specifying all lateral
trajectory distances within the y- direction, as shown with the yellow lines in the figure below.

ੁ
① Longitudinal distances
② Lateral distances
Figure 5-1 Lateral and longitudinal distances of the motion flow kraken controller

The corresponding alternative trajectories are displayed with pink and purple lines.

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5.1 Parameter setup

Figure 5-2 Alternative trajectories based on the lateral and longitudinal distances

After the map creation, the name of the map needs to be inserted in the following sections:
• Section: Motion Static Loader
Map File Path: "../atlas/<MapName>.yaml"
• Section: Route Map
Global Frame Id: "<MapName>.map"

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Initial configurations
5.2 ANS+ laser commissioning

5.2 ANS+ laser commissioning

The following section describes the commissioning and calibration of up to four laser scanners.
Computing the transformation of each laser position is relevant for a successful operation of the
ANS+.
1. Adjust the laser scanner (PLS) in combination with the SICK laser height measurement
devices at an angle parallel to the floor.
As a result, the PLS data tends to avoid touching the ground.
2. Check that the corresponding laser scanners are enabled in the parameter file “user_def”
within the ANS+ ET and set an initial guess for each transformation as shown below.
Note
Initial guess of the laser transformation
This initial guess of the laser transformation is used for the optimization problem solved
during laser calibration and must be within a range of +/- 8 cm and +/- 5° of the true values.
It is advisable to set the initial guess to the transformation given in the CAD data of the AGV.
Odometry Type
As the laser commissioning is not finished at this point, the parameter "OdoWheel" has to be
parameterized and used within "user_def" file. After finishing the laser commissioning,
"OdoLaser" can be used.

Figure 5-3 Initial guess for the laser scanner transformation based on CAD within “user_def”

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5.2 ANS+ laser commissioning

① Kinematics center
② Laser 0
Figure 5-4 Description of laser transformation parameters

3. Restart the ANS+ NC module to apply the initial guess parameters for all laser parameters.
4. Once the module is restarted, evaluate, if the laser scanner data represents the surrounding
environment correctly. This can be done by compering laser data in the ANS+ ET and physical
objects. For example, a physical object in front of the AGV needs to be visualized in +X
direction or an object to the left needs to be visualized in +Y direction.
5. Reduce the maximum possible velocity for “Automatic start“ of the AGV to 300 mm/s.
If the AGV is later not able to reach the commanded target, e. g. due to lethargy or huge
dimensions, it is necessary to decrease the velocity or to use a higher curve radius setup in
the next step.

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5.2 ANS+ laser commissioning

6. Select the smallest possible curve radius for your AGV out of the following possibilities: 1 m,
2 m, 3 m. Set up the respective calibration environment as depicted below.
Note
Accuracy in calibration result
To achieve the highest accuracy in the calibration result, the smallest possible curve radius
and respective calibration environment should be selected.

Figure 5-5 Calibration environment

Figure 5-6 Objects in the calibration environment

The line-like landmarks, as shown in the illustration "Objects in the calibration environment",
must have a length of at least 1 m each for the calibration process. The landmarks are used
to build the setup shown in the illustration "Calibration environment". The distances "d1" and
"d2" are dependent on the selected curve radius. The values of d1 and d2 are given in the
following table and are representing the allowed maximum:

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5.2 ANS+ laser commissioning

Curve radius Max. distance d1 Max. distance d2

1m 3m 3.50 m
2m 4.50 m 6m
3m 6m 8.50 m

7. Position the AGV in the center of the calibration environment facing towards the longer sides
of the rectangular calibration setup (as depicted in the calibration environment in the
illustration "Calibration environment").
8. Click on the “activate laser calibration process” in the ANS+ ET.

Figure 5-7 Activate laser calibration process button

9. Ensure that the calibration preconditions are fulfilled and click "Confirm".

Figure 5-8 Confirm calibration preconditions before starting the calibration process

10.Select the curve radius corresponding to your calibration environment and AGV.

Figure 5-9 Select curve radius for AGV path

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5.2 ANS+ laser commissioning

11.Click confirm to start the calibration movement.

The AGV will now automatically drive a path consisting of target points forming a route of
two eights and a straight path segment as depicted below. The movement between target
points is dependent on the underlying AGV kinematic.

Figure 5-10 Path automatically driven during the calibration process dependent on the kinematic

This is followed by the computation of the calibration result. The current progress of the
calibration is shown in the ANS+ ET.

Figure 5-11 Calibration progress bar

Note
During the ongoing calibration, do not send any other drive commands to the AGV, otherwise
the calibration process is canceled.

Note
The duration of the calibration process may take up to several minutes. This depends on the
overall driven time period and the amount of used laser scanners.
When the calibration process is finished, the calibration results are displayed instead of the
progress bar.
12.Select “Overwrite” to overwrite the current transformation set in the “user_def” parameter
file with the new transformation parameters.

Figure 5-12 Overwrite the displayed calibration results

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5.2 ANS+ laser commissioning

Note
Apply the new transformation parameters
To apply the new transformation parameters, a restart of the ANS+ NC is necessary. For
further information see "Status" page (Page 49).

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6.1 Mapping
This chapter provides general information about:
• Features and their parameters
• An ANS+ engineering process, how to create a feature-based map for localization and
navigation in combination with the ANS+ ET

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6.2 Map wording

6.2 Map wording

Within one environment it is possible to use multiple maps. The most common use case for
several maps is to use one global map with multiple local station maps:
• Global map
A global map is a map which contains multiple features of the general environment.
• Station map
Station maps only contain features of a station, for example, charging or load handling
station. The SIMOVE ANS+ system only uses mapped station features, ignores completely the
surrounding environment and is therefore independent of environment changes.
This approach is used to reach the best possible accuracy in localization before stations.
Station maps are engineered in the same way as global maps, described in chapter Station
engineering (Page 149).
To be able to use several maps, that refer to each other, a map link between the maps is
required. This process is explained in chapter Map linking (Page 98).

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6.3 Feature detection

6.3 Feature detection

The result of the mapping process depends on the used feature parameters. For each
environment or AGV type, all parameters need to be reviewed. This chapter explains the general
concept behind SIMOVE ANS+ feature detection related to parameters.
Each feature recognition, which will be used for localization, is mainly based on five general
parameters:

Parameter Description
Max. distance The maximum allowed distance between a laser and a feature. Features above
this distance will be filtered.
Min. distance The minimal allowed distance between a laser and a feature. Features below
this distance will be filtered. Since some lasers have a high failure in their raw
data for very close objects (< 20 cm). This parameter needs special consider‐
ation for station approaches.
Max. gap between If the gap between two laser points is more than the parametrized value, a
points new feature recognition is started.
The aim is to set this value as small as possible, to receive a few long accurate
features. If this value is reduced too much, too many small objects will be
detected, which should be avoided.
Min. feature length or In the end, the recognized feature needs to be at least as large as the para‐
diameter metrized value, otherwise it will be ignored.
The minimal allowed value of this parameter is 50 cm.
The aim is to set this value as high as possible, to filter small fragments of the
environment.
Min. Points on feature This parameter is dependent of the laser beam resolution. In case of a low-
resolution scanner, for example 0.1°, this value can be set higher.
The aim is to set this value as high as possible, to filter out small fragments of
the environment.

The following illustration provides a schematic overview of the feature recognition related to
the described parameters. Due to the interruption, the wall is divided and only one partial
feature is detected. The interrupting object is not recognized as a feature, as the overall size
is less than parametrized.
There is no impact on the feature recognition if a laser device sets laser beams as high
reflective. For a feature all laser beams will be used in the same way.

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6.3 Feature detection

੅
੃
੄ ੆

ੂ ੀ
ੁ

① Max. distance
② Min. distance
③ Max. gap between points
④ Min. feature length
⑤ Min. points on feature
⑥ Line feature
⑦ Reflective beam
Figure 6-1 Schematic overview of feature recognition

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6.4 Usable feature types

6.4 Usable feature types

For localization, different types of landmarks can be used. The tables below provide a short
explanation of each feature and the resulting visualization in the ANS+ ET. Furthermore, the
main default feature parameters are listed, which must be reviewed and adjusted for each
project.

6.4.1 Line
Lines are besides corners the main features for localization. The parameters can be edited in the
section “Kalman Polar Lines”. The parameter “MinSegLen25D” must be higher than 50cm.
The default parameters are shown in the figure below.

Figure 6-2 Kalman Polar Lines default parameters

6.4.2 Corners
Corner features are created out of two lines. The parameter section for this type of feature is
“Kalman Corners”. The parameter “Corner” specifies a new corner feature type with the related
accepted angle that will be used for corner feature detection (including tolerance).
The free space angle specifies the free visible angle that is detected by the laser scanner. As
an example, 90°, 150° and 270° angles will be detected within the default parameter setup.
The default parameters are shown in the figure below.

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6.4 Usable feature types

Figure 6-3 Kalman Corners default parameters

6.4.3 Reflectors
This feature uses single reflectors as a feature. The amount of reflector types for each project
must be kept minimal.
The parameter section for this type of feature is “Kalman Reflectors”.
Each reflector type requires a related parameter “Reflector”, which combines three reflector
values:
• Type
• Diameter / Width
• Uncertainty
The range (= diameter/width ± uncertainty) of the parameter “Reflector” is not allowed to
overlap with another reflector’s range.

Allowed reflector ranges Forbidden reflector range overlap

Note
Diameter or width difference needs to be as high as possible
For each project, the diameter or width difference between two reflectors needs to be as high as
possible for a better feature differentiation.

The default parameters are shown in the figure below.

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6.4 Usable feature types

Figure 6-4 Kalman Reflectors default parameters

6.4.4 Virtual lines

Out of two reflectors, which are attached beside each other, a virtual line feature is generated.
The parameter section for this type of feature is “Kalman Polar Lines”. With the parameters “VL
Range Min/Max” the allowed distance range between two reflectors needs be parametrized.
The default parameters are shown in the figure below.

Figure 6-5 Virtual Line default parameters

6.4.5 Cylinders
Cylindric natural landmarks can be used as a feature. The parameter section for this type of
feature is “Kalman Cylinders”.
The parameter “Diameter” has to be higher than 10 cm.
The default parameters are shown in the figure below.

Figure 6-6 Kalman Cylinders default parameters

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6.4 Usable feature types

6.4.6 Line middle points

Out of a fixed specified line or segment length, a middle point is created. The parameter section
for this type of feature is “Kalman LineMidPoints”.

Note
The first parameter of “Segment” has to be higher than 50 cm.

This feature is typically used for station approaches.

The default parameters are shown in the figures below.

Figure 6-7 Kalman LineMidPoints default parameters

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6.5 General mapping process

6.5 General mapping process

6.5.1 Feature Based Map

This chapter describes the ANS+ engineering process to create a feature-based map for
localization and navigation in combination with the ANS+ ET.

Procedure
1. Start the ANS+ ET and connect to the web-based UI:
2. Connect to the related device, as described in chapter Add and connect to a new device
(Page 53).
3. To start a mapping process from the previously marked position, click on the related AGV in
the "Favorite Devices" list to see the corresponding functions in the "Dynamic toolbar".
4. Click on .

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6.5 General mapping process

5. Select "Create new map" to start mapping.

Note
Map origin
A map origin for each new generated map is per default at the position at which the mapping
process has been started. The pose of the origin is changeable after the map is generated.

ࡳ
ࡵ
ࡴ

ࡸ
ࡹ

ࡶ
ࡷ

① Process bar
② Reflective beam
③ Online detected feature (turquoise)
④ Localization history (green)
⑤ Saved feature ignored for localization (grey)
⑥ Saved feature used for localization (black)
⑦ Laser data
Figure 6-8 ANS+ ET mapping data example

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6.5 General mapping process

6. Activate the localization data over the visualization configuration panel.

These data are needed, if the localization is facing problems with the parametrization and/or
the environment during mapping.

Figure 6-9 ANS+ ET localization data activation

7. Use the manual control device to slowly move the AGV within the relevant environment to
create a new feature-based map.

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6.5 General mapping process

8. While driving, take a continuous look into the ANS+ ET to remember which feature is created
out of a static environment element and which belongs to a fragment, for example, of the
floor or to a dynamic object such as other AGVs.
Note
Reduce failures while mapping
To reduce failures while mapping, it is helpful to reduce the movements. Therefore, follow
roughly the path the AGVs need to drive.
Mapping processes based on SLAM are in general liable to fast movements or rotations, as
many different algorithms are running in the background.
Therefore, during the mapping, it is required to drive steadily and avoid impulsive
movements.
For large or difficult environments, the generated map may have a too high failure.
This leads to an offset between a previously mapped area and new generated area.
For this problem, refer to chapter Loop closure mapping process (Page 78).

① Offset between old and new data

Figure 6-10 Loop closure problem for already mapped areas

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6.5 General mapping process

9. To stop the mapping process and to save the recorded map, click "Next".

Figure 6-11 Stopping the mapping process

10.Type in your custom map name and click on "Save" to generate the map file.

Figure 6-12 Saving the map

Note
Naming restrictions
A map name is only allowed to contain 26 characters with no spaces or other special
characters.
When "Save" is clicked, the ANS+ system starts an algorithm to optimize the newly created
map and to compensate tolerance failures within, for example, laser scanner(s), hardware or
mechanical issues.
The bigger the size of the map and the higher the number of generated features is, the more
time the algorithm requires.
Note
Failure of the generated map
If the failure in the newly generated map is too high for the optimization algorithm, for
example, due to fragments or wheel odometry failure, the optimization fails. The result
might be, for example, a rounded map. For this case, the map needs to be redone under
consideration of chapter Loop closure mapping process (Page 78).
Once the map is created by the ANS+ NC module, the ANS+ ET automatically visualizes this
map in the list.

Figure 6-13 Generated map

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6.5 General mapping process

Result
The map has been created and is now ready for its clearing. A detailed explanation of the process
can be found in chapter Map engineering (Page 95).

Figure 6-14 Differentiation between considered and unconsidered mapping features

See also
Remote access (Page 30)
Direct access (Page 30)

6.5.2 Loop closure mapping process

The mapping loop closure approach is only required in two cases:
• For large or difficult environments, in which the mapping optimization fails
• For offsets between a previously mapped area and a newly generated area of the same
region.

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6.5 General mapping process

① Offset between old and new data

Figure 6-15 Loop closure problem for already mapped areas

The following steps describe a process that solves:

1. Connect to the related device, as described in chapter Add and connect to a new device
(Page 53).
2. Click .
3. Select “Create new map” to start mapping.
4. Activate the localization data over the visualization configuration panel to see if the
localization is facing problems with the parametrization and/or the environment during
mapping.
5. If an area is reached which has already been mapped and in which an offset occurs between
previously mapped and newly generated data, click “Loop Closure”.

WARNING
Stop the AGV
When a mapping approach is started directly on an AGV, it is required to stop the AGV
completely before entering the loop closure approach to avoid failures. It is also mandatory
to have the AGV in standstill during the entire loop closure process.

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6.5 General mapping process

6. Move the AGV shape and its related scan data via Drag&Drop and rotate to the previously
mapped features.

Figure 6-16 Shifted AGV pose related to prev. mapped features

Note
X and Y feature required
For the loop closure approach, it is mandatory to have at least one online detected X and Y
feature, which can be mapped to an already mapped feature.

7. Click on “Optimize” to provide the new data to the map optimization.

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6.5 General mapping process

8. Once the map optimization is done, the result is visualized in the UI.

Figure 6-17 Successfully finished map optimization

9. Depending on the result, the mapping can be used and continued by pressing “Confirm” or
redone with new pose data by pressing “Reset”.
10.If necessary, repeat the procedure multiple times for each reentered area during one single
mapping approach.
11.To stop the mapping process and to save the recorded map, click “Next”.

Figure 6-18 Stopping the mapping process

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6.5 General mapping process

12.Type in your custom map name and click “Save” to generate the map file.

Figure 6-19 Saving the map

Note
Naming restrictions
A map name is only allowed to contain 26 characters with no spaces or other special
characters.
After saving the map, a final map optimization is started.
13.When the map is created by the ANS+ NC module, the ANS+ ET automatically visualizes this
map in the list.

Figure 6-20 Final optimized map

Result
The map has been created and is now ready for its clearing. A detailed explanation of the process
can be found in chapter Map engineering (Page 95).

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6.5 General mapping process

6.5.3 Grid-based Map

This chapter describes the ANS+ engineering process to create a occupancy grid-based map for
navigation in combination with obstacle avoidance. Within this map, the environment is
discretized into cells.

Procedure
1. Start the ANS+ ET and connect to the web-based UI.
To start a mapping process , a feature-based map has to be created and loaded into the ANS+
NC module in advanced. Afterwards, a gridmap can be generated for this feature-based map.
2. Click on and select "Create gridmap for current map"

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6.5 General mapping process

3. Drive within the environment where the gridmap should be computed. While driving, the
computed gridmap is not shown on the screen.
4. After saving the gridmap, the visualization can be turned on/off by selecting the visibility icon
within the planner tab of the Map Elements, as shown below.

Figure 6-21 Grid-based map visualization

Figure 6-22 Generated grid-based map

Note
Only one grid-based map can be created for each feature-based map.

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6.5 General mapping process

Result
The map has been created, as shown in the figure below and is now ready for its clearing. A
detailed explanation of the process can be found in chapter Map engineering (Page 95).
During the mapping process, the recorded gridmap is not being displayed. After saving, the
gridmap contains three different information for every cell of the recorded map:
• White cells represent a free area
• Black cells represent an occupied area
• Grey cells represent an unknown area

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6.6 Map extension

6.6 Map extension

This feature extends an already existing map with new features, but it is required to first delete
all features of the related area. The advantage of this approach is that all other map-related
information, for example, links or paths, can be kept in their current state.

Note
Existing features will not be deleted
Within this process, no existing features of the extended map will be updated or deleted.

Note
Map name cannot be changed
It is not possible to change the name of an already existing map by using the map extension
approach.

For the following process, the highlighted area is extended.

① Extended area
Figure 6-23 Area used for map extension

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6.6 Map extension

To extend a map, the following approach is required:

1. Delete all features in the extended area.
If an unknown area of a map is extended, this step can be skipped.

① Cleaned area
Figure 6-24 Cleaned area

2. Save the map changes.

3. Reload the atlas data of the related AGV using the device command toolbar.

Figure 6-25 Reload AGV atlas

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6.6 Map extension

4. Localize the AGV in a region in which enough localization features exist and before the
extended area starts.
5. Click and select "Extend current map" to start the map extension approach.

Figure 6-26 Localized AGV required to start extension approach

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6.6 Map extension

6. Move the AGV with a manual control device to generate all new required features.

Figure 6-27 Ongoing map extension approach

Note
Loop closure approach
If a mapping offset between new and known features occurs, use the loop closure approach
to align newly generated features with the already known ones, as described in chapter Loop
closure mapping process (Page 78).

7. Once all features are generated, stop the approach by clicking "Save".
As the already known map is extended, no new map name needs to be inserted.
A map optimization algorithm is running in the background.
Once the file is finished, the ANS+ ET automatically reloads its data content.

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6.6 Map extension

8. Clean the map by deleting all fragments or doubled features.

Figure 6-28 Cleaned features within the extended map

9. Save the map changes.

10.Reload the atlas data of the related AGV using the device command toolbar.

Grid map extension:

This feature extends an already existing gridmap. As an advantage of this approach, the
already existing gridmap will be updated and not be overwritten or deleted.

Procedure:
1. Start the ANS+ ET and connect to the web-based UI.
To start an update process, a grid map must be created in advance.
2. Click on and select "Update gridmap for current map".
3. Drive within the environment where the grid map should be updated. While driving, the
computed gridmap is not shown on the screen.
4. Click on "Save" to overtake the changes.

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6.7 Global mapping examples

6.7 Global mapping examples

The following three tables demonstrate an example of a mapping process within the same
environment. For each mapping a different set of parameters has been used. The blue line
represents the history data of the localization while mapping.
The first table represents the best parametrization, as it provides several long static line
features, small corner features and nearly no tiny fragments. Tiny fragments need to be
deleted manually after the mapping process which is explained in chapter Map engineering
(Page 95).

Kalman Polar Lines

• MinSegLen25D 50 cm
• MinPtsIn‐ 10
Plane25D
• MaxGap25D 15 cm
Kalman Corners
• Min Point Size 10
• Min Seg Len 10 cm
• Min Side Len 30 cm
Result: Good
• No localization gaps and or jumps
• Localization history illustrates the
driven way

First mapping example – Best result

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Mapping
6.7 Global mapping examples

Kalman Polar Lines

• MinSegLen25D 10 cm
• MinPtsIn‐ 5
Plane25D
• MaxGap25D 5 cm
Kalman Corners
• Min Point Size 10
• Min Seg Len 10 cm
• Min Side Len 10 cm
Result: Critical
• Too many fragments in the map
which are affecting the localization
• Too many small features

Second mapping example – Too many features

Kalman Polar Lines

• MinSegLen25D 150 cm
• MinPtsIn‐ 15
Plane25D
• MaxGap25D 15 cm
Kalman Corners
• Min Point Size 20
• Min Seg Len 10 cm
• Min Side Len 50 cm
Result: Critical
• No fragments, but insufficient fea‐
tures for localization

Third mapping example – Insufficient features

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6.7 Global mapping examples

See also
Remote access (Page 30)
Feature-based map clearing (Page 95)

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6.7 Global mapping examples

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Map engineering 7
7.1 Feature-based map clearing
This chapter describes an engineering process for preparing a previously created map for
localization and for path engineering.

Procedure
1. Click on next to the previously created map to visualize it in the world window.
2. Hide all other maps by clicking .

ࡶ
ࡴ

① Active map
② Other AGV
③ Floor contact
④ Doubled object
Figure 7-1 Visualization of the uncleaned map

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7.1 Feature-based map clearing

3. In the map, remove the following features by pressing or <Del>.

Fragments Those features are saved by the algorithm in case laser beams are touching the
ground.
This scenario is possible for example due to a floor unevenness, wrong mechan‐
ical laser adjustment or reflector mismeasurements.
Dyn. objects Other AGVs in the environment may generate features, which must be removed
in the engineering process. Those features are not static in the map and there‐
fore cannot be used for localization.
Doubled objects Features can be created twice in case of floor unevenness and/or different de‐
tection of multiple laser scanners.

4. To delete multiple features in a single step, use “feature multi-select”:

– Click and hold the left mouse button in the world window.
– Move the mouse and hold the left mouse button to define a selection area.
– After releasing the mouse button, select the related map element type.
5. All marked elements can be removed by using or <DEL>.

Figure 7-2 Multi-select feature to delete all selected features in one step

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7.1 Feature-based map clearing

6. To undo steps, use or <CTRL + Z>.

Note
Do not move static features
Static features are used for localization and should not be moved or adjusted, as the ANS+ has
generated these objects by using the direct laser data. Therefore, to receive the best accuracy
in localization, leave the static features as they are.

7. Save the map using or <CTRL + S>.

Result

Figure 7-3 Cleared map

Within a cleared map, the file is prepared for path engineering. A detailed description on how
to design paths in SIMOVE ANS+ is given in chapter Path engineering (Page 109).

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7.2 Map linking

7.2 Map linking

This chapter describes an engineering process to link two maps to each other, so that the ANS+
NC can change its used map for localization during runtime. This feature can be used, for
example, for difficult environments, in which it is not possible to create one single global map.

Note
Only one link
It is only possible to have one link between two maps.

1. Ensure that an already final engineered map containing paths and ident points is available.
2. Create a new map starting from an ident point in the already existing map to have an
overlapping zone for both maps.
3. Clear the features in the newly generated map.
4. In the ANS+ ET, activate the visualization of both maps.
The selected map is displayed in full transparence, while all other maps are faded out. This
step is shown in the illustration below with “NbgShowroom” as known and “Testmap” as
newly created map.

Figure 7-4 Active visualization of several maps

Before a link is created between both maps, the newly created map needs to be aligned with
the reference map moved so that both maps match in their features.
5. Select the new map to receive all map related functions.
6. Click on and move the related map via Drag&Drop.

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7.2 Map linking

7. To change the orientation of the map, click and hold the right mouse button for a negative
and the middle mouse button for a positive angle.
Alternatively, use the offset textboxes to change the values.
To set all offset values to zero, click .
In the end, all features in the overlapping zone of the new map need to be exactly on the
same position as the features of the reference map.

Figure 7-5 Overlapped maps

8. When the new map is in the correct position, deactivate the map movement with another
click .
9. Select the newly created map.
10.Configure the reference map as linked map by setting to the known map.

Figure 7-6 Selecting an already known map as linked map

11.Click on .
A link between both maps is created.

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7.2 Map linking

① Generated link
Figure 7-7 Final result of a map linking process

Create an overlapping ident point

To switch between linked maps automatically, the ANS+ system requires an overlapping ident
point on a path in both maps at the same position. Therefore, the following steps are required:
1. In the new map, create a new path to an already existing ident point of the reference map.
2. Create a new ident point on the overlapping position.
This new ident point needs to share the same UID as the already existing ident point of the
reference map.

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7.2 Map linking

① Same ident point UID in both maps

Figure 7-8 Overlapped path ident points

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7.3 Gridmap clearing and editing

7.3 Gridmap clearing and editing

This chapter describes an engineering process for preparing and clearing a previously created
gridmap.

Procedure
1. Select the map, that was used to create a gridmap first and open the planner tag within the
Map Elements section.
2. Click on next to the “gridmap” to visualize it in the world window.
3. When highlighting the gridmap, two new symbols will appear in the toolbar to edit or delete
the gridmap.
4. The dropdown element can be used to select if a free, blocked or unknown area should be
manually drawn within the map.
5. After selecting one of this three types, the cells of the recorded gridmap can be overwritten.
Therefore, select the gridmap and select the button “Edit gridmap” until it is highlighted
and edit the cells, that should be overwritten.

੄ ੂ
ੀ ੁ

੃
① Select gridmap
② Activate gridmap visibility
③ Open gridmap settings toolbox
④ Gridmap settings toolbox
⑤ Edit gridmap
Figure 7-9 Edit the gridmap

In the following illustration, a gridmap is cleaned up. To do this, the map can either be
cleaned up with the pencil or with rectangles. Here, "free" rectangles are used to clean up the
items that were blocked unintentionally.

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7.3 Gridmap clearing and editing

Figure 7-10 Gridmap cleaning using free rectangles

Note
After the map has been cleared, the NC must be restarted, so that the new gridmap is loaded.

The following figure shows two gridmaps. The left map before the map cleaning and the
right side after the map cleaning.

Figure 7-11 Gridmap uncleaned, cleaned

Update gridmap
Differently to the feature-based map, the gridmap is not extended, instead it is updated. If
the laser scanner detects new obstacles that were not present in the previous gridmap, these

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7.3 Gridmap clearing and editing

are added to the map as "blocked". On the other hand, obstacles that no longer exist are also
converted from "blocked" to "free".

Note
The gridmap must be cleaned again after a gridmap was updated.

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7.4 Global map parametrization

7.4 Global map parametrization

Global map parametrization

If one of the following scenarios is used within an environment or path layout, it is required to
define one map as global map by parametrizing “Global Frame Id”.
• Linked map(s)
• Specific orientation on an ident point.
More information:
– Rotation on the spot (Page 217)
• Specific edge orientation
• Holonomic movement(s) related to a global map origin.
More information:
– Holonomic movement (Page 219)

Figure 7-12 Parametrization of an overall global map origin

Note
Parameterization of a global map
Once a global map has been parametrized, all map origin related values, such as AGV pose,
holonomic movements or rotations on the spot, refer to this specified origin.

In case of several global maps independent to each other, the parameter “Global Frame Id”
can be commented out by activating .
The following two examples explain the concept behind the parameter “Global Frame Id”.
In the first illustration, the parameter “Global Frame Id” has been commented out. Therefore,
all map origin related values, such as the pose of the AGV, refer to the origin of the
corresponding map. As a result, “AGV A” has an orientation of 45° in “Map A” and “AGV
B” an orientation of 0° within “Map B”.

Example 1

Figure 7-13 No "Global Frame Id" used - Values related to each map origin

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7.4 Global map parametrization

In the second illustration, “Global Frame Id” has been set on “Map A”. Due to this change, all
map origin related values of both maps are now referring to “Origin A”. That is the reason
why “AGV B” has now the same orientation of 45° as “AGV A”.

Example 2

Figure 7-14 "Global Frame Id" set on “Map A” - Values related to "Map A" origin

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7.5 Zone Engineering

7.5 Zone Engineering

Zone creation:
The steps describe an engineering process to create a zone within the feature-based map.
1. Select the map, in which the zone should be created and click on:

2. Create corners as an outline of the zone by clicking at the screen.

Figure 7-15 Zone engineering

3. To finish the creation of a new zone, double click at the last outline point.
4. Select a type of zone that should be created. The following types are possible:
Keep Out: Vehicle is not allowed to enter the zone
Velocity: Vehicle velocity is set to a fix value, when driving within the zone
One Way: Vehicle is only allowed to drive within this zone in one direction
5. Click on "Add" to create and add the zone to the map.
By default, every zone is saved with the name "Zone_X". X represents an internal incremental
counter of the ANS+ ET.
6. Click on "Finish" to determine the zone creation process.
7. Save the changes within the layout by pressing save or < CTRL + S>.

Zone adjustment:
The size and shape of the zone can be edited. Select the zone, that should be adjusted and
move the outline points via Drag&Drop or select the button

to add a point to the zone outline.

Click on "Done" to finish the process.

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7.5 Zone Engineering

Figure 7-16 Add zone polygon point

Additionally, each zone type can be changed and the zone can be activated/deactivated.
Select the zone within the Map Elements and edit the zone properties:

Figure 7-17 Zone window

The zone types "One Way" and "Velocity" have an additional Attribute that can be edited.
• Zone "One Way": Specify a global orientation, when driving in this zone.
• Zone "Velocity": Specify a velocity value, when driving in this zone.

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Path engineering 8
This chapter describes the general concept behind SIMOVE ANS+ layouts and a step-by-step
physical and logical engineering process to create valid virtual paths. This process can be done
completely offline, without any active connection to any AGV.

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8.1 Layout concept

8.1 Layout concept

SIMOVE ANS+ is a virtual line-guided laser-based navigation system. It uses the approach of
“Bézier curves” to describes its required navigation paths. In other words, every path in the tool
is a “Bézier curve”.
The implemented SIMOVE motion controller (in SIMOVE Carrier Control) uses the “Virtual
Track Sensor” (VTS) interface localization data of the ANS+ system to follow the specified
paths in consideration of the kinematic concept. Each “Bézier curve” is defined by “Control
points” with a defined beginning and ending of each curve. Those control points define the
physical geometry of the virtual path.

Circle layouts and crossings

Circle layouts require at least two “Bézier curves” for one-way or three “Bézier curves” for
bidirectional path direction with an overlapping beginning and ending control point (see
"Bézier curves: Circle example").
Crossings are always realized as overlapping control points of different “Bézier curves”, as it is
displayed in "Bézier curves: Crossing example".

① Control points
② Overlapping control points
③ Path 1
④ Path 2
⑤ Path 3
Figure 8-1 Bézier curves: Circle example

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8.1 Layout concept

① Overlapping control points

② Control points
③ Path 3
④ Path 1
⑤ Path 2
Figure 8-2 Bézier curves: Crossing example

Ident points
To command an AGV from one point to another, the ANS+ system requires a logical layer, as
control points only define the virtual path’s trajectory.
Within the SIMOVE system architecture, every system (for example Carrier Control, ANS+,
Master Control, Fleetmanager) uses the same logical abstraction layer, the “identification
points” (shortly: “ident points”).
An ident point is used as a kind of interface between all systems. On the one hand, an AGV
sends a position message to the master control in case of a passed ident point. On the other
hand, the master control can make decisions for AGVs on those points. For the ANS+ system,
the behavior of the ident points is the same as for a line-guided vehicle with, for example,
RFID tags attached to the floor. The only difference is that for ANS+ those points are virtual
and therefore can easily be removed or shifted.
A valid SIMOVE ANS+ path layout requires ident points on every created path, at least on
their beginning and ending control point, shown in "Bézier curves: Circle example with
ident points". The concept behind those points is similar to the control point concept for all
layouts. On the overlapping part of all paths, each corresponding path requires a separate
ident point. In the given example of a crossing, displayed in "Bézier curves: Crossing example
with ident points", all three paths require, beside the overlapping control points, an ident
point with the same ID at the same position.
The ANS+ NC module uses this approach to automatically load the correct path for the
current drive order.

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8.1 Layout concept

① Ident point
② Overlapping ident points (same ID)
③ Path 1
④ Path 2
⑤ Path 3
Figure 8-3 Bézier curves: Circle example with ident points




 

① Overlapping control and ident point (same ID)

② Path 1
③ Path 2
④ Path 3

Figure 8-4 Bézier curves: Crossing example with ident points

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8.2 Physical path engineering – Control points

8.2 Physical path engineering – Control points

Control points define the physical geometry of a path. The following steps describe a process to
create an exemplary circle layout. The engineering starts at the map’s origin.
1. To see the map’s origin position, click on .

① Map origin (x = 0 m, y = 0 m)
Figure 8-5 Visualization of the map origin in ANS+ ET

2. To create a path (= “Bézier curves”) within the ANS+ ET, click on the corresponding map in
which the new path should be integrated.

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8.2 Physical path engineering – Control points

3. Click on in the dynamic toolbar to create a path.

Note
File type
All paths are saved in the “atlas”-directory on the AGV. Those files share the specified ending
“.poc”.
Each mouse-click in the map adds a new control point to the path.

ੁ
ੂ
ੀ

① Map origin (x = 0 m, y = 0 m)
② Implicit movement direction
③ Control points
④ New path
Figure 8-6 Creating a new path in the ANS+ ET

Note
Movement direction
The direction in which control points are added to a path implicitly defines the default
movement direction on the path. Each path is only adjusted for one movement direction at
its default configuration.
The curve itself is automatically rounded under consideration of the mathematic “Bézier
curves” definition.

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8.2 Physical path engineering – Control points

4. To change the angle of the curve, click on the corresponding control point of the curve.
The ANS+ ET displays two additional points directly on the path, describing the last point of
the curve. Those two points can be seen in the properties window on the right side with the
name “Handle 1” and “Handle 2”.

① Handle 1
② Handle 2
③ Selected curve control point
Figure 8-7 Curve adjustment in the ANS+ ET

5. To finish the creation of a new path, double click at the last control point position.
By default, every path is saved with the name “Path_X”. X represents an internal incremental
counter of the ANS+ ET.
Note
Creating or moving a control point
While creating a new path or moving a control point, press and holding <CTRL> to grab
existing control points of other paths. For this purpose, the mouse cursor has to be in a close
range of a control point to apply its position to the new or selected control point.
In the end, the layout should look like one closed line.

Figure 8-8 Simple circle layout in ANS+ ET

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8.2 Physical path engineering – Control points

6. Save the status of the map and paths by pressing or <CTRL + S>.
7. To extend paths with a specified width, click .
This feature can be used to check if all curves are in the correct shape and if an AGV is capable
to successfully drive the defined layout.

Figure 8-9 Path extension in ANS+ ET

8. To change all defined control point positions click and hold the point.

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8.3 Align control points

8.3 Align control points

The feature to align all selected control points will align all control points within two selected
points and lead to the following behavior:
Before:

Figure 8-10 Single path before aligning process

Figure 8-11 Two lined up paths before aligning process

After:

Figure 8-12 Succesfull aligning process

8.3.1 Align control points on a single path

The feature to align all control points in relation to two specific control points can be activated
within the dynamic toolbar .
When selecting this function, all control points of the related path are visualized. Two control
points have to be selected and all control points in between will be aligned, as shown in the
figures below. A preview visualizes the possible result. Cancel aborts the entire process and
confirm will overtake the result. To overtake the new setup into the map, saving the map is
required.

Figure 8-13 Select icon to start aligning process

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8.3 Align control points

Figure 8-14 Align control points step 1

8.3.2 Align control points within two paths

Prerequisite:
The feature to align control points in relation to two specific control points, on different and
connected paths can be activated within the dynamic toolbar.
When selecting this function, all control points of the related and connected paths are
visualized, as displayed below. Two control points have to be selected and all control points
in between will be aligned.

Figure 8-15 Align control points step 2

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8.4 Logical path engineering – Ident points

8.4 Logical path engineering – Ident points

Ident points define the logical layer of paths. The steps describe a process to create an exemplary
circle layout. The following engineering guidance starts at a map’s origin.
1. To create an ident point, use one of the following approaches:
– Select a control point and create an ident point directly on the same position by
clicking .
Note
Existing ident points
In case of an already existing ident point, which is on the same position and belongs to a
different path, the newly created ident point will automatically use the UID and
description of this ident point.

– Select the related path and click .

Move the mouse over the path and click on it to set the position of an ident point. Use
Drag&Drop to change the position of the ident point.
Note
Apply UID and description of an existing ident point
Once an ident point is dragged for a position change, <CTRL> can be pressed and held.
This enables a feature to apply automatically the UID and description of an already
existing ident point on the same position.

If an ident point is successfully created and selected, the “Ident Point Properties” window
appears on the right side.

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8.4 Logical path engineering – Ident points

Property Description Ident point properties

① UID Each unique ID (UID) is only
allowed to be made out of
numbers [0-9].
The value is passed to other ੀ
systems via the specified in‐
terfaces. ੁ
Current possible UID range:
1 to 65535 ੂ
② Reference If the map of the related
map ident point is linked to an‐
other map, it is possible to
੃
transform the position rela‐
ted to the specified map ori‐
੄
gin.
③ Pose The X and Y position of the
੅
selected ident point within
the map coordinate frame ੆
in meters.
ੇ
④ Commands Ident point commands re‐
region gion
For more details, refer to
chapter Ident point com‐
mands (Page 124).
⑤ Ident point Configured ident point
command command
⑥ Advanced Advanced region
region
⑦ Signal • Activated:
Ident point will be sent
to other systems via no‐
tification.
• Deactivated:
Ident point notification
will be kept only within
ANS+.
⑧ Start point This flag can be used for de‐
bugging purposes.

2. In the end, the circle layout of the illustration "Simple circle layout in ANS+ ET" in
chapter Physical path engineering – Control points (Page 113) can look similar to the
illustration below.

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8.4 Logical path engineering – Ident points

ࡵ ࡶ

① UID 1 on Path_1 & Path_3 on the map origin

② Default movement direction
③ UID 3 on Path_2 & Path_3
④ UID 2 on Path_1 & Path_2
Figure 8-16 Final simple layout in the ANS+ ET

3. Rename all created paths for a better understanding in the directory. A common best practice
solution is to name every path with the following concept under consideration of the
movement direction:
<startId>_<endId>_<mapName>
– startId: The name (or identifier) of the starting ident point on the path.
– endId: The name (or identifier) of the last ident point on the path.
– mapName: Corresponding map in which the path is saved.
For the illustration above, a possible naming of the two paths would be the following:
– Path_1: “1_2_Docu”
– Path_2: “2_4_Docu”
– Path_3: “4_1_Docu”

Note
Limitation of path names
Path names are limited to 26 characters.

4. Save the map and its newly created paths including the ident points by pressing or <CTRL
+ S>.
5. To apply the changes into the ANS+ NC module, restart the operating device.
For a better understanding of the path engineering, a more complex layout is shown in the
following illustration with a split path concept and the marked overlapping ident points.

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8.4 Logical path engineering – Ident points

Figure 8-17 Complex layout split at path overlaps

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8.5 Copy and move paths

8.5 Copy and move paths

Existing paths, along with their control and ident points as well as the applied ident point and
edge commands, can be copied and pasted within the same map or across different maps. To
copy and paste one or multiple paths, use one of the following approaches:
• Select one or multiple paths and press the hotkeys <CTRL + C> to copy and <CTRL + V> to
paste.
• Select one or multiple paths and click on in the dynamic toolbar.

Figure 8-18 Multiple copied paths along with their specific ident point and edge commands

To move a path, hover over it with the mouse courser and hold the left mouse button down.
Connecting paths can be achieved by merging control points and ident points, as described
in Physical path engineering – Control points (Page 113).

Note
The names of copied paths, as well as the UIDs of their ident points, are automatically assigned.
Therefore, the ET determines the current highest UID and incrementally increases the UIDs of all
newly inserted ident points one by one.

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8.6 Ident point commands

8.6 Ident point commands

It is possible to add single or multiple commands to ident points. This approach can be used, for
example, in case of a Fleet Control system, which is not able to send all required layout
information dynamically. By adding command strings to an ident point, the command strings
are attached to the overall path layout and can therefore not be removed during runtime.

Note
Execution of commands
Commands are always fulfilled by SIMOVE ANS+ if the related ident point is part of a commanded
order independent from the previous path segment. A command is executed along a path until
the next ident point is reached.

To skip the execution of an ident point command, the related ident point must be left out of
an order.

Figure 8-19 Ignoring ident point commands by skipping an ident point within an order

To add a command to an ident point, follow the described process:

1. Select an ident point.
2. In the “Ident Point Properties” window click on .
3. In the pop-up menu, select the commands that must be added to the selected ident point.
4. Change the values of the newly added commands.
5. To apply the ident point changes to the files, click "Save".
6. Use the “Refresh atlas” to apply the changes in the ANS+ NC module.
After a command is added, the ANS+ ET highlights the ident point with a purple circle in the
world window.

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8.6 Ident point commands

Figure 8-20 Highlighted ident point due to added commands

The following table describes all possible ident point commands and their functions:

Command Unit Description

CSV-String <cmd1>,<cmd2>, Directly appends the inserted CSV string to an ident point.
…
Grind [yes/no] Automatic bypassing of a control point between handle po‐
sitions of the neighboring control points.

Automatic control point grinding

Odometry start dis‐ [m] For x m after starting from source ident point, only odometry
tance data will be used for the localization.

Default value: 0.01m

Orientation [0°,360°] Specified orientation when reaching an ident point in degree.

Requires valid parameter “Global Frame Id” within “user_def”

file.

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Path engineering
8.6 Ident point commands

Command Unit Description

Target radius [m] Sets the target radius of the related ident point to the speci‐
fied value.

Default value: 0.01 m

Target mode [string Enum / Sets the target mode to Circle or HalfCircle
HalfCircle, Circle]
Default value: not set

All activated ident point commands have an impact to the default movement behavior of the
ANS+ system, which is described in the chapter Station engineering (Page 149).

See also
Holonomic movement (Page 219)
External Pose Interface (Page 226)

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8.7 Edge commands

8.7 Edge commands

It is possible to add single or multiple commands to edges. This approach can be used, for
example, in case of a Fleet Control system, which is not able to send all required layout
information dynamically. By adding command strings to an edge, the command strings are
attached to the overall path layout and can therefore not be removed during runtime.

Note
Execution of commands
Commands are always fulfilled by SIMOVE ANS+ if the related edge is part of a commanded order
independent from the previous path segment. A command is executed along a path until the
next ident point is reached.

To add a command to an edge, follow the described process:

1. Select a path and choose the respective edge, that should be edited.
2. In the "Edge Properties" window click on .
3. In the pop-up menu, select the commands that should be added to the edge.
4. Change the values of the newly added commands.
5. To apply changes to the files, click "Save".
6. Use the "Refresh atlas" to apply the changes in the ANS+ NC module.
After a command is added, the ANS+ ET highlights the edge with a purple line in the world
window.

Figure 8-21 Selected path

The following table describes all possible edge commands and their functions:

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Path engineering
8.7 Edge commands

Command Unit Description

Collision Avoidance Check [yes/no] Motion functionality can be disabled at an edge.
E.g. when entering a station, where collision
avoidance should be deactivated.
CSV-String <cmd1>,<cmd2>,… Directly appends the inserted CSV string to an
ident point.
Global orientation [deg] Globally specified orientation on a path segment
between two ident points in degree.

Requires valid parameters for "Global Frame Id"

and "Kinematics" within "user_def" file. A global
orientation is only fulfillable in case of "Mecanum"
kinematic.
Explained in more detail in chapter Holonomic
movement (Page 219).
Maximum Speed [m/s] The allowed maximum speed on a specific edge
can be specified here
Movement Direction [Forward/Backward] Explicitly forces the ANS+ system to command the
AGV in a tangential forward/backward orientation
on an edge
Rotation allowed [yes/no] Allows the SIMOVE ANS+ system to rotate the AGV
towards a specified global tangential or global ori‐
entation during translation movements along a
path. The angle is set between edge and AGV
Requires "Mechanum" for "Kinematics" parameter
within "user_def" file.
Explained in more detail within chapter Holonom‐
ic movement (Page 219).
Tangential orientation [deg] Tangentially specified orientation on a path seg‐
ment between two ident points in degree.

Requires valid parameters for "Global Frame Id"

and "Kinematics" within "user_def" file. A global
orientation is only fulfillable in case of "Mecanum"
kinematic.
Explained in more detail in chapter Holonomic
movement (Page 219).
Target distance [m] Sets the target distance to the specified value.
Tunnel Width [m] Orthogonal distance to an edge that must be
maintained when driving with free path planning
(e.g. during obstacle avoidance)

When selecting an edge command, the edge will be interpretated in both directions.
Therefore, the selected command has to be specified on one or both edge interpretations.
Example: The edge between the ident points 204 and 205 can be interpretated as:
• 204 to 205 (204 >> 205)
• 205 to 204 (204 << 205)

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8.7 Edge commands

Figure 8-22 Edge commands

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Path engineering
8.8 Common layout guidance

8.8 Common layout guidance

8.8.1 Circle
A circle layout is defined by a minimum of three paths. On each path overlap, there are control
points on the exact same position and ident points with the same UID for each path.

① Overlapping control points

Overlapping ident points with same UID
Figure 8-23 Exemplary circle layout

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8.8 Common layout guidance

8.8.2 Junction
A junction is created by overlapping multiple paths. On each path overlap, there are control
points on the exact same position and ident points with the same UID for each path.

① Overlapping control points

Overlapping ident points with same UID
Figure 8-24 Exemplary junction layout

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Path engineering
8.8 Common layout guidance

8.8.3 Dead end

Each dead end is specified with its own path. On each junction to a dead end, there are control
points on the exact same position and ident points with the same UID for each path of the
junction.

ࡳ
ࡳ

① Overlapping control points

Overlapping ident points with same UID
Figure 8-25 Exemplary dead end layout

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 Path engineering
8.8 Common layout guidance

8.8.4 Parallel stations

Following the same logic as for dead ends, each station has its own path. On each junction to a
station, there are control points on the exact same position and ident points with the same UID
for each path of the junction.

ࡳ ࡳ ࡳ

① Overlapping control points

Overlapping ident points with same UID
Figure 8-26 Exemplary stations layout

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Path engineering
8.8 Common layout guidance

8.8.5 90-degree turn

Turns with a specific angle, most commonly is 90°, follow the same logic as junctions. Therefore,
for each turn a new path is engineered. On each junction to a station, there are control points
on the exact same position and ident points with the same UID for each path.

ࡳ ࡳ

ࡳ ࡳ

① Overlapping control points

Overlapping ident points with same UID
Figure 8-27 Exemplary 90°-turn layout

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Free path planning 9
This chapter describes the general concept behind SIMOVE ANS+ free path planning approach
and a step-by-step logical engineering process to make usage of this functionality. Path planning
lets an autonomous vehicle find the shortest and most obstacle-free path from a start pose to a
goal pose. Path planning requires a feature-based map and a gridmap of the environment along
with start and destination pose.
The chapter Path engineering (Page 109) deals with virtual lines, control points and
ident points in combination with a "virtual track sensor" to follow the specified paths in
consideration of the kinematic concept.
In addition to this functionality, the system can perform a collision-free path planning in an
already known environment. The source and destination pose within the map have to be
known and reachable. The system creates a virtual path through the environment, based on
the global costmap which is generated automatically by using the related gridmap. For the
driving task, a velocity vector will be calculated inside ANS+, based on the defined parameter
within the parameter page in the ANS+ ET (instead of the virtual track sensor). While driving,
a local gridmap is used to calculate the way around obstacles that might be within the
globally planned path.

Prerequisite:
As a prerequisite, a global occupancy grid-based map of the environment, in which the
vehicle is supposed to drive, is required. Also, the "motion" functionality has to be enabled.
Therefore, the section "motion AGV" needs to be enabled within the parameter page and
also all motion related parameters need to be adjusted related to the application within the
parameter page.

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Free path planning

Procedure:
The steps describe an engineering process to create a free path planning task by using the
ANS+ ET UI:
1. Click on " Path planning" within the toolbar.

Figure 9-1 Start free path planning process

2. Select the start pose (e.g. the current AGV position) and target pose by clicking onto a valid
pose within the grid map.

Figure 9-2 Selection of start pose and target pose

3. Check the values for start and target pose and click on "Send" to start the execution of the
driving task.

Figure 9-3 Executing of driving task

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Note
Only a fixed behavior tree is available
During the free path planning process, one behavior tree is defined by default. Within this
behavior tree, the vehicles behavior, such as waiting for a short period of time before
recalculating the path and continuing driving is specified.

See also
Parametrization (Page 163)

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Free path planning
9.1 Costmaps

9.1 Costmaps
This chapter describes the impact of global and local costmaps towards the navigation behavior
of SIMOVE ANS+.
Costmaps are used for computing collision free paths for free path planning and obstacle
avoidance only in combination with activated ANS+ feature "Motion". Generally spoken the
default parametrization of ANS+ tries to avoid navigating in areas, in which costs take place.
This leads to a greater distance between the AGV and any obstacle to achieve a more fluent
movement behavior.
These costmaps therefore are dynamically computed and generated by ANS+ NC module
mainly based on two parameters:
• Outline
• Footprint padding
By using these two parameters, an automatic computation takes place, to ease the
calculation of collision free paths. Starting with a transformation of the initially outline in
the "user_def" file representing the "Visual" outline, this polygon is turned into a convex
boundary ("Technical"). This new boundary is used internally for all algorithms, instead of
the user specified standard outline, which is only valid for visualization tasks. By using the
convex boundary and the kinematic center, a computation of the "Inscribed Radius" takes
place. This value specifies the guaranteed collision free boundary of the convex outline in any
orientation to any obstacle in the map.

Standard Outline ("Visual") Convex Boundary ("Technical") Inscribed Radius

Standard outline given by Convex outline computed out ① Inscribed Radius computed
"user_def" parametrization of Standard Outline out of convex Boundary
To receive the final computation radius of costmaps the second parameter "Footprint
Padding" is now added to the previously calculated inscribed radius. The padding can be
parametrized in a different way for the global and local planner. The global padding should

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9.1 Costmaps

always be parametrized more conservatively (default: 20 cm) in comparison to the local

padding (default: 10 cm) to give the local planner more opportunities in avoiding obstacles.

Inscribed Radius Inscribed Radius incl. Footprint Padding

Inscribed radius Final collision free radius

computed out of convex boundary considered for costmap generation
Once the final radius is calculated, the global costmap based on the general gridmap as
well as the local costmap based on the live-data of all considered laser scanner devices are
generated by the software. The final result can be seen and visualized inside the ANS+ ET.

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9.1 Costmaps

੄
ੁ

① Cost affected area

② Guaranteed collision
③ Free of costs
④ Inscribed radius
⑤ Final costmap computation radius
Figure 9-4 Final costmap

Note
For the entire navigation behavior and all free planned paths, ANS+ of course computes its
trajectories in a way, to keep the entire convex boundary of the AGV out of cost infected areas
to guarantee a more fluent movement behavior

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9.1 Costmaps

As a "Best Practice" the smallest safety protection field should be integrated into the standard
outline polygon parametrization, to provide the ANS+ system with the additional information
which final dimension should be considered for computing collision free paths.

Standard outline without safety protection field Standard outline including safety protection
field

ੀ
ੁ

Costmap calculation without safety protection field Costmap calculation including safety protection field
① Safety Protection Field ① Final costmap
② Kinematic center ② Inscribed radius

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9.2 PLC commands for free path planning

9.2 PLC commands for free path planning

Additionally to the "Path Planning button" within the ANS+ ET, the free path planning can also
be commanded through the PLC interface. Therefore, please have a look at the respective
function blocks of the Carrier Control Library "LSimoveC".
When using the free path planning, there are three options for commanding:
1. Free path planning from any pose within the environment to a valid ident point
2. Free path planning from a valid ident point to any pose within the environment
3. Free path planning from any pose within the environment to any other pose within the
environment
The examples are based on valid ident points that exist in the path layout (213 and 202) and
invalid ident point numbers, that does not exist within the path layout (99, 999).

Example 1:
Free path planning from a valid pose (x,y,a) in the environment, where the vehicle is
currently standing as source information to a valid ident point (here ident point 202).
Therefore, an invalid source ident point (here 99) is needed. Since the system has to know,
in which angle the destination ident point should be reached, this information needs to be
provided.
Edges[0].sourceId := 99;
Edges[0].destId := 202;
Edges[0].optRouteInfo.destCoord.x := 3141; //in mm
Edges[0].optRouteInfo.destCoord.y := -177; //in mm
Edges[0].optRouteInfo.destCoord.a := 3116; //in mdeg

Example 2
Free path planning from valid ident point 213 to valid pose (x,y,a) within the environment
using an invalid and not existing ident point 99 for destination. Here, the vehicle is standing
on ident point 213.
Edges[0].sourceId := 213;
Edges[0].destId := 99;
Edges[0].optRouteInfo.destCoord.x := -4474; //in mm
Edges[0].optRouteInfo.destCoord.y := 19; //in mm
Edges[0].optRouteInfo.destCoord.a := 3140; //in mdeg

Example 3
Free path planning from a valid pose (x,y,a) to an existing ident point (202). Then from an
existing ident point(202) to another existing ident point (213). Both ident points (202 and
213) are placed on the same path. From that point (213) to a valid pose in the environment,
to another valid pose in the environment.
Edges[0].sourceId := 99;
Edges[0].destId := 202;
Edges[0].optRouteInfo.destCoord.x := -4474; //in mm

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9.2 PLC commands for free path planning

Edges[0].optRouteInfo.destCoord.y := 19; //in mm

Edges[0].optRouteInfo.destCoord.a := 3140; //in mdeg

Edges[1].sourceId := 202;
Edges[1].destId := 213;

Edges[2].sourceId := 213;
Edges[2].optRouteInfo.sourceCoord.x := 321; //in mm
Edges[2].optRouteInfo.sourceCoord.y := 2563; //in mm
Edges[2].optRouteInfo.sourceCoord.a := 365; //in mdeg
Edges[2].destId := 999;
Edges[2].optRouteInfo.destCoord.x := 1887; //in mm
Edges[2].optRouteInfo.destCoord.y := 672; //in mm
Edges[2].optRouteInfo.destCoord.a := 785; //in mdeg

Edges[3].sourceId := 999;
Edges[3].optRouteInfo.sourceCoord.x := 1887; //in mm
Edges[3].optRouteInfo.sourceCoord.y := 672; //in mm
Edges[3].optRouteInfo.sourceCoord.a := 785; //in mdeg
Edges[3].destId := 99;
Edges[3].optRouteInfo.destCoord.x := -4474; //in mm
Edges[3].optRouteInfo.destCoord.y := 19; //in mm
Edges[3].optRouteInfo.destCoord.a := 3140; //in mdeg

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9.3 Visual Obstacle Avoidance (VOA) Module

9.3 Visual Obstacle Avoidance (VOA) Module

9.3.1 Overview
The Visual Obstacle Avoidance (VOA) module detects obstacles above and below the levels of
the laser scanner within the field of view of mounted 3D cameras. It uses up to four cameras as
additional input (exact number dependent on the HW used) to the ANS+ motion module. The
data generated by these cameras is used solely for obstacle detection and avoidance, while the
localization of the AGV is handled exclusively by laser sensors.

Note
VOA is not a safety function.

9.3.2 Supported Hardware

The VOA module supports the following cameras:
• Intel RealSense d435 (EAN 5032037110334)
• Intel RealSense d456 (EAN 5032037225984)
It is recommended to use the original camera cables. If different ones are used, they must
provide sufficient transfer rates (USB 3.0). If using a USB multiport to connect the cameras
to the IPC, ensure sufficient data transfer and power delivery (USB 3.0 with external power
supply). When using VOA, an IPC 227G or 127E must be used to run ANS+. The IPC 227G
supports VOA with up to four cameras, the IPC 127E is restricted to one camera due to CPU
limitations.

9.3.3 Camera Mounting

All supported camera types have a horizontal field of view (FoV) of 87° and a vertical FoV of 58°.
Cameras should be mounted horizontally. While it is possible to set a pitch angle between
-89° and 89°, the roll angle of the mounted cameras must be zero.
Although it is possible to decrease the field of view using the angle min and angle max
parameters, it is recommended to position cameras with a free field of view, ensuring no AGV
parts are visible to the cameras.
For obstacle avoidance, at least two cameras with a combined FoV of about 180° in moving
direction are needed. As obstacles must be visible to the AGV at every point while passing
them, it is recommended to ensure a 360° field of view while using motion.

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9.3 Visual Obstacle Avoidance (VOA) Module

9.3.4 Commissioning
The most relevant parameters of the VOA module are contained in the user-def file of the
"Parameter" page, see Figure 9‑6. Here, the sections camera ID0 to camera ID3 can be used to
set the most commonly used parameters.

Figure 9-5 Enable visual obstacle detection

Figure 9-6 User-defined parameters for each camera

To use VOA, the following parameters need to be set:

1. Enable section "Visual Obstacle Avoidance" in the user-def page.
2. Ensure all input cameras are connected and enable is set to yes.
3. Set the serial number of all enabled cameras. The serial number is a 12-digit number printed
on a label on the camera’s bottom (Figure 9-7). Alternatively, the serial number can be
determined by connecting the camera to a computer and starting the Intel® RealSense™
Viewer. Under the section "information", the serial number of connected cameras is depicted.
4. Set if the camera was mounted upside down or not.
5. Set the camera height. This is the distance between camera and floor (absolute value).
6. Set the total AGV height. This is the distance between the AGVs highest point (including
load) and the floor. All obstacles above AGV height level are ignored by the cameras.
7. Set the floor distance. AGV height and floor distance define the maximum and minimum
height levels at which obstacles are still considered relevant to the motion module. The floor
distance must be slightly greater than zero to filter the floor level. For uneven or reflective
floors, set a value of a few centimeters above zero.
8. Set the position of the camera relative to the AGV in the transformation lateral parameter.
Values are given in x, y, and angle, with a front-facing camera having an angle of zero.
Note: For cameras, the zero angle is defined differently than for laser scanners. The origin of
the cameras depth coordinate system is depicted on the image below (Figure 9-8 and Figure
9-9).

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Figure 9-7 Label with the camera's serial number (12-digit)

Figure 9-8 Camera coordinate system for d435

Figure 9-9 Camera coordinate system for d456

Additional parameters for the VOA module can be found in the voa_cameras.yaml (Figure
9‑10) file. These include parameters to reduce the field of view, etc. Typically, these
parameters do not need to be changed by the user.

The parameters in the yaml file include:

• Range min: [m] min distance at which obstacles are considered.
• Range max: [m] max distance at which obstacles are considered.
• Angle min: [deg] min angle at which obstacles are considered, in horizontal direction.
• Angle max: [deg] max angle at which obstacles are considered, in horizontal direction.
• Angle min vertical: [deg] min angle at which obstacles are detected, in vertical direction.
• Angle max vertical: [deg] max angle at which obstacles are detected, in vertical direction.
• Timeout frames: [ms] max time with no new camera frames until error is displayed.

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9.3 Visual Obstacle Avoidance (VOA) Module

• Pitch angle: [deg] positive for camera looking up, zero for horizontal, negative for camera
looking down.
• Time too old max: [ms] max cycle time before the system shows warning.
• Filer window: int, size of flying pixel filter.

Figure 9-10 Advanced parameter options in voa_camera.yaml file

9.3.5 Operation
The VOA module serves as an additional input for obstacle avoidance and free path planning
(motion module). Obstacles between the floor distance and AGV height are added to the local
costmap and considered during planning. The output from VOA is a set of 2D points that can be
depicted in the ANS+ ET by enabling the respective camera ID in the config panel, similar to laser
scanners (see Figure 9‑11).
If VOA is used in combination with virtual line following and the AGV should only detect, but
not avoid obstacles, enable the motion module and set the tunnel width parameter to zero.
This allows the local costmap to still be used as input for potential obstacles, but the AGV
stays on the virtual lines.
Important: If the motion module of ANS+ is turned off, the local costmap is ignored and
the AGV will not stop in front of obstacles detected by the VOA module.
The minimum size of detected obstacles depends on the distance, environmental conditions
such as lighting, as well as size and reflectivity of the object. In case of uneven and reflective
floors, the minimum height of detected objects is increased. In case of the AGV moving up
ramps, the collision check flag can be removed for the respective edge to ensure the ramp is
not detected as an obstacle.
Direct sunlight and reflective surfaces can cause noise to the point cloud generated by the
cameras and must thus be prevented. Small sets of flying pixels are pre-filtered by the VOA
module. If needed, the filter window and max range difference parameters can be adapted in
the voa_camera.yaml file to further reduce noise.

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9.3 Visual Obstacle Avoidance (VOA) Module

Figure 9-11 ET visualization of VOA output

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Station engineering 10
SIMOVE ANS+ stations are maps with defined station features to reach the best possible accuracy
in localization. This approach is used to avoid disruptive influences of global map features, for
example, due to displacement.
As a global map might contain several identical station types, SIMOVE ANS+ provides so
called station templates and station instances for this engineering use case. Each station type
requires its own station template. Within the global map, it is possible to create multiple
instances out of one template.

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10.1 Generating a station template

10.1 Generating a station template

Note
Only relevant template functions available
During the entire template creation process, the UI is blocked expect relevant template
functions. To access other UI elements or pages, the process first needs to be finished or
canceled.

Exact positioning
When using station templates, the localization can be optimized, when only one laser
scanner is used for localization within the station features.
Therefore, the "Used Laser Device" can be edited within the template properties.

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10.1 Generating a station template

The steps describe an engineering process to create a station template:

1. Position AGV in front of the station and do not move it for the entire process.
2. Click on “Create new station template”.

Figure 10-1 Create new station template

A template creation process is started.

① Identical stations
Figure 10-2 New started template creation process

3. Map related station features to avoid template map failures

Figure 10-3 Station feature type configuration

4. Adjust the creation parameters to avoid unnecessary failures in the template. Enable only the
relevant station feature types by clicking on the feature buttons.

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10.1 Generating a station template

5. The mapped station consists of a metal sheet with a specified length. For this station type,
use the SIMOVE ANS+ features “Polar Line” and “Line Mid Points”.

Figure 10-4 Adjusted station feature type configuration

6. To confirm the new configuration, click on “Apply”.

7. If there are additional features around a station of the same feature type, specify a certain
area in the grid.
This area is called “Area of interest”.

① Area of interest
Figure 10-5 Specified “Area of interest”

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10.1 Generating a station template

8. To confirm the new configuration including the “Area of interest”, click on “Apply”.
9. Once all parameters are configured and applied, click on “Create” and fill in a representative
template name.

Figure 10-6 Template name

Once the template is generated, the file is automatically loaded into the ANS+ ET data
content.

① Station template (purple features)

② “Station Templates” tab
Figure 10-7 Final generated and loaded station template

Note
List of station templates
All station templates are listed in the "Station Templates" tab in the "Environment" window.

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10.2 Station template engineering

10.2 Station template engineering

Once a station template is created, several configurations need to be engineered for each
template before starting with station instance engineering.

Note
Station templates and station instances
Station instances are generated out of station templates. Therefore, it is recommended to first
configure all templates to apply their settings directly into their instances.

Within this documentation example the following template is used:

Figure 10-8 Initial state of a station template after generation

The following configurations need to be engineered for each template:

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10.2 Station template engineering

Paths
Each station requires a valid path with ident points. The UIDs of the ident points are later
adjusted within the instance engineering approach, for the templates overall free temporary
UIDs are required. It is also possible to fine-tune control points for each station instance in the
end.

① Free temporary UID for ident points

② Station path
Figure 10-9 Station template path engineering

Station laser devices

For a station positioning approach, it might be necessary to only use specific laser scanner
devices for localization. The aim of this configuration is to avoid interferences, for example,
occurring due to laser calibration offsets or due to material reflection issues for a scanner, by
disabling related laser devices.

WARNING
Evaluation of laser point data
For each template, it is recommended to evaluate the laser point data and to disable interfering
laser scanner devices.

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10.2 Station template engineering

Figure 10-10 All interfering laser devices for a station template disabled

Station features priorities

Each station feature is visualized in a different shade of purple for better differentiation to normal
map features. Furthermore, each station feature has its own priority setting. At their default
state, which is “MAN” (= mandatory), all station features are considered as one single feature.
This increases the localization accuracy.

WARNING
Visible mandatory station features
Mandatory station features need to be permanently visible for all related laser scanner devices
during the entire station approach.
Therefore, ensure that at least two or more features are set to mandatory and avoid specifying
all features to optional.

If an AGV is not able to detect all mandatory station features during the entire station
approach, those specific features need to be set to “OPT” (= optional).

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10.3 Station instance engineering

10.3 Station instance engineering

Station instances are generated out of station templates. Therefore, it is recommended to first
configure all templates to apply their settings directly into their instances.
Once all templates are configured, the following step-by-step guidance can be used to create
multiple station instances within a map:
1. Select the related map in which station instances shall be created.
2. Click on to start the engineering process.
3. To create multiple station instances within a single engineering process, define a prefix for all
related instances. The ANS+ ET later on uses this prefix for naming the instances with an
ending “_X”, in which X represents an iterative counter.

Figure 10-11 Station instance prefix naming

After confirming, the related station template is attached to the mouse cursor with its origin
position.

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10.3 Station instance engineering

4. Position the template roughly in the area in which the station features are already mapped
in the global map.
Note
Unmapped features
If the features of a station are not mapped in the global map, command the AGV to the related
ident point in front of the station and use its laser data and feature recognition to position the
instance.

① Station template
Figure 10-12 Station template attached to mouse cursor

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10.3 Station instance engineering

5. Once the position is defined, use the rotate icon to specify the angle. It is possible to do a fine-
tuning of the instance pose via Drag&Drop or the offset text boxes in the properties window.
In the end, the station template feature needs to be on the position of the mapped or online
visible feature.

① Angle correction
② Offset text boxes in the properties window
Figure 10-13 Station instance fine-tuning in positioning

6. Adjust the path related to the crossing of the global map. Use Drag&Drop or list selection of
the control points to position the path correctly on the crossing.

Figure 10-14 Station instance fine-tuning in positioning

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10.3 Station instance engineering

7. The temporary UIDs of all ident points need to be changed to the required IDs. Click on the
ident point and change the UID in the properties window.

Figure 10-15 Station instance ident point configuration

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10.3 Station instance engineering

8. Click "Next" to create another instance in the same step or click "Finish" to finish the
engineering process.

Figure 10-16 Additional station instance created within the same process

9. Save all changes and reload the AGV’s atlas, as shown in Figure 6-25 Reload AGV atlas
(Page 87), to apply the map changes.

① 1st instance
② 2nd instance
Figure 10-17 Final result of multiple created station instances

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10.3 Station instance engineering

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Parametrization 11
11.1 Overview
This chapter describes the parametrization of the ANS+ NC module.
For this purpose, the tool offers the "Parameters" page.
More information:
• ""Parameter" page (Page 45)"

Editing parameters
The most common user parameters are defined in the “user_def” file, that is being displayed
for the localhost in the parameter page.
Only adjust the parameters within this file.
To change an already listed parameter, edit the content of the column "Parameter Value".
To save the change, click on .

Note
Parameters are case sensitive
All parameter values are case sensitive. If you change a value, stick to the already listed default
value format.
Otherwise the value will not be read by the ANS+ system. In that situation, the system will use
the default parameter value as a fallback solution.
Restart required
All saved changes are only applied if you restart the ANS+ NC module.

Parameter handling

Add parameters to a section

1. To add a new parameter to a listed section, click next to the name of the related section.
A new parameter line appears.
Click on the drop-down menu and select the parameter which has to be added to the section.
2. This process can be canceled by pressing <Esc>, or by clicking on "Confirm" in case of an
empty drop-down menu.

Add new sections comments

• To add a new section or comment section to the file, click on .

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11.1 Overview

Figure 11-1 Adding a new parameter to a file’s parameter section

Delete parameters or sections

1. Delete sections and parameters by clicking .
2. Check the related section or parameter line.
3. Click "Delete" to delete the selected elements.

Figure 11-2 Deleting a parameter or section of the parameter file

Advanced parameters
Additional parameters can be edited by enabling of the “advanced configuration” button within
the parameter page.
These values have to be adjusted carefully.

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11.1 Overview

The following files can be parameterized:

user_def All listed parameters overwrite the configurations of "hardware" and "param"
hardware Contains all parameters for hardware settings of the ANS+ modules, like ports, IP addresses of laser
configurations
param Software configuration parameters can be found here, for example for localization, mapping or feature
detection
local_planner Parameterization of the local planner is specified within this section.
global_planner Parameterization of the global planner is specified within this section.
behavior_tree The behavior tree specifies the main driving behaviors like following a route, following a free path,
approach, halt and replan
voa_camera Parametrization of the camera module for visual obstacle avoidance

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11.1 Overview

See also
Global map parametrization (Page 105)
Feature detection (Page 67)
Movement behaviors (Page 215)
Visual Obstacle Avoidance (VOA) Module (Page 144)

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11.2 Laser parameters

11.2 Laser parameters

The laser scanner is the most important device for laser-based navigation systems. Its
parametrization and configuration have an impact on many different tasks, such as localization
accuracy.
The default laser parameters are adjusted to the most commonly used laser scanner for
SIMOVE ANS+: SICK "microScan3" including 0.1° laser beam resolution.

Figure 11-3 SIMOVE ANS+ "user_def" - Default laser parameters

The laser parametrization differs between all compatible scanner devices. A set of
parametrization examples for different compatible scanners is provided under Map origin
changes (Page 228).

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11.2 Laser parameters

The following table provides an explanation on the default laser parameters:

Table 11-1 Laser parameter explanation

Parameter name Explanation

Transformation Value format: X1 Y1 Z Yaw1 0.0 0.0
Unit:
• Float String
• X, Y, Z in [cm]
• Yaw in [deg]
• Space separated values
Explanation: A transformation (TF) defines a mathematic relation between two
coordinate frames. For this parameter, the configured TF specifies the distance
(X1, Y1), the height (Z) and orientation (Yaw) between the related laser scanner
coordinate frame and the kinematic center coordinate frame.
Note: The value "Yaw" specifies the orientation in degree between the kinematic
center +X direction and the laser 0° laser beam. The 0° laser beam can change
between laser devices and is therefore described in the vendor’s datasheet.
A schematic overview, explaining all mentioned parameter values, is provided in
the Illustration below. In the example, Y1 and Y2 are both zero, as both scanners
are mounted in the centerline of the AGV.

Schematic top view of laser transformation values

Note: The values "X","Y" and "Yaw" are automatically computed by the ANS+ NC
module with the approach of automatic laser calibration for all active parame‐
trized laser scanner devices (Page 233).

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11.2 Laser parameters

Upside Down Value format: yes / no

Unit: Boolean
Explanation: This value specifies, the mechanical mounting the related laser
scanner is attached to the AGV. Both possible options are shown in the illustration.

Laser scanner mount option normal

Laser scanner mount option upside down

Resolution Value format: 0.1
Unit: Unsigned float in [deg]
Explanation: The laser data scan resolution, which can be found in the vendor’s
datasheet.
Note: The SICK microScan3 scanner, for example, has two resolutions depending
on the ordered product: 0.1° and 0.385°
Valid Angle Value format: -360
Unit: float in [deg]
Explanation: The Valid angles can be used to restrict the field of view of the laser
scanner. Therefore the laser coordinate system is used.
Valid Angle Min The Valid Angle Min parameter can be used to set the
starting point for the first laser beam to be detected.
Valid Angle Max The Valid Angle Max parameter can be used to set the
end point for the last laser beam to be detected.
Note: If reflections from the AGV occur and the AGV therefore sees itself, the AGV
can no longer drive with motion. In this case, the reflections must be parameter‐
ized using the valid angles.

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11.3 Visual Obstacle Avoidance parameters

11.3 Visual Obstacle Avoidance parameters

For each connected camera of the VOA module, the most relevant parameters such as camera
position and type need to be set. Especially the height levels of the camera and AGV as well as
the transformation to the kinematic center must be known to give the planning algorithm
correct knowledge of obstacle positions. Additionally, the section "Visual Obstacle Avoidance"
needs to be enabled if any camera should be used as an input to the local costmap.

Figure 11-4 SIMOVE ANS+ "user_def" - Camera parameters

The following table gives an overview of the typical camera parameters and their default
values.

Table 11-2 Camera parameter explanation

Parameter Name Description

Serial Number Value format: “123456789101”
Unit: string with 12-digit number
The serial number is different for each camera and used to identify each connected
camera. The 12-digit number can be found either on the bottom of the respective
camera or using the Intel® RealSense™ Viewer.

Position of the 12-digit serial number on a label of the bottom of the camera
Camera Height Value format: 0.3
Unit: double in [m]
Distance between camera and floor. This value is used to compute the minimum
and maximum height levels at which the camera will later consider obstacles as
relevant for the AGV and plans around them.
AGV Height Value format: 1.0
Unit: double in [m]
Distance between top of the AGV and floor. Obstacles above this height level are
ignored by the VOA module. It is recommended to make this value a few cm higher
than the actual AGV height.

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11.3 Visual Obstacle Avoidance parameters

Floor Distance Value format: 0.05

Unit: double in [m]
Minimum height level at which VOA considers obstacles. In case of uneven or
reflective floors, increase the floor distance a few cm.
Is upside down Value format: yes / no
Unit: Boolean
Transforms the coordinates in case the camera is mounted upside down. The Is
upside down equals false position is shown in the figures below in the transfor‐
mation lateral row.
Transformation Lat‐ Value format: 0.3 0.6 45
eral Unit: Double [m(X) m(Y) deg(Yaw)]
Set the position of each camera with respect to the AGVs kinematic center. Values
are given in x, y, and angle, with a front-facing camera having an angle of
zero. Note: For cameras, the zero angle is defined differently than for laser
scanners. X and Y are defined the same as for laser scanners. The origin of the
camera’s depth coordinate system is depicted in the figure below.

Origin of the cameras coordinate system for an Intel RealSense d435 camera.

Origin of the cameras coordinate system for an Intel RealSense d456 camera.

Figure 11-5 SIMOVE ANS+ "user_def" - Enable VOA module

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11.3 Visual Obstacle Avoidance parameters

Table 11-3 Visual Obstacle Avoidance parameter explanation

Enable Value format: yes / no

Unit: Boolean
If this value is true, all enabled cameras are used as an additional input into the
local lostmap. Obstacles within the current field of view of the respective cameras
are used for obstacle avoidance and path planning.
Note: Visual obstacle avoidance only processes obstacles if motion is enabled as
well. If motion is disabled, the local costmap is ignored and the AGV will not stop
in front of obstacles detected by Visual Obstacle Avoidance.

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11.4 Feature parameters

11.4 Feature parameters

As all other parameters, the feature parameters have their own default values. Those values can
be considered as a general guideline, but for each project, it is required to fine-tune them. The
concept behind feature recognition is described in the chapter Feature detection (Page 67).
Each feature has its own subset of parameters. The “user_def” file provides all feature
parameter sections and their main parameters:
• Kalman Polar Lines
• Kalman Corners
• Kalman Cylinders
• Kalman Reflectors
• Kalman LineMidPoints

11.4.1 Kalman Polar Lines

This table lists all main parameters of the section “Kalman Polar Lines”.

Parameter name Description

Enable Polar Lines Value format: yes / no
Unit: Boolean
Explanation: This value enables the polar line feature recognition.
Note: As polar lines represent the main feature, this value should always be
activated.
MinSegLen25D Value format: 100
Unit: Unsigned Int in [cm]
Explanation: Specifies the shortest length of polar line features. Features below
this value are ignored. The allowed minimum of this value is 50 cm.
Note: This value should always be set to the shortest line feature in the envi‐
ronment. For example, if an environment provides I-Beams of 80 cm and more,
the value should be set to 80.
ScanMinRangeCm Value format: 50.0
Unit: Unsigned Float in [cm]
Explanation: The minimal allowed distance between all feature types and laser
devices. If a feature is closer to a laser device than the parametrized minimum
distance, it is ignored.
ScanMaxRangeCm Value format: 2000.0
Unit: Unsigned Float in [cm]
Explanation: The maximum allowed distance between all feature types and laser
devices. If a feature is far off the parametrized distance, it is ignored.

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11.4 Feature parameters

MinPtsInPlane25D Value format: 10

Unit: Unsigned Int
Explanation: Defines the minimum number of points that are necessary to create
line features. If a physical landmark is noticed with less laser points, it is not
detected as a polar line feature.
Note: This value is depended on the laser beam resolution. The lower the reso‐
lution is, the higher this value can be parametrized to avoid unnecessary map‐
ping fragments.
SpuriousMaxSize25D Value format: 1
Unit: Unsigned Int
Explanation: Due to laser data noise or fragments, polar line features can be
created as a skew line. This parameter specifies the number of laser points, that
are filtered at the beginning and end of a polar line feature to avoid this effect.
MaxGap25D Value format: 10.0
Unit: Unsigned Float in [cm]
Explanation: The maximum allowed distance between two laser points for polar
line feature expansion.
If a polar line is recognized and created, it is expanded for every laser point that
is lower than the parametrized gap distance. If a laser point exceeds this limit,
the feature expansion is stopped, and a new feature is created in consideration
of all other parameters.
Note: The most common range for this parameter is 7 to 15 cm.
Enable Virtual Line Value format: yes / no
Unit: Boolean
Explanation: Virtual lines can be created out of two parallel reflector landmarks.
Note: Laser modules may faultily detect different material surfaces as “reflec‐
tive”. This effect can lead to plenty of virtual line fragments during the mapping
process, which has to be avoided. Therefore, this feature should only be con‐
sidered if only one specific type with a defined reflector distance is used in the
complete environment. This distance then can be parametrized precisely to
avoid fragments.
VL Range Min Value format: 50.0
Unit: Unsigned Float in [cm]
Explanation: Minimal allowed distance between two reflectors to create one
virtual line feature. If those reflectors are closer than parametrized between
each other, no virtual line feature is created.
VL Range Max Value format: 200.0
Unit: Unsigned Float in [cm]
Explanation: Maximum allowed distance between two reflectors to create one
virtual line feature. If the distance is bigger than parametrized, no virtual line
feature is created.
Laser Id 2D Value format: 0 0
Unit: [<LaserId 0,1,2,3> <LevelId 0>]
Explanation: If only certain laser scanners should be used for localization, they
can be selected here. If the parameter is commented out, all scanners that are
enabled are automatically used.

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11.4 Feature parameters

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① MinSegLen25D ⑥ MaxGap25D
② ScanMinRangeCm ⑦ VL Range Min
③ ScanMaxRangeCm ⑧ VL Range Max
④ MinPtsInPlane25D ⑨ Line feature
⑤ SpuriousMaxSize25D ⑩ Virtual line feature
Figure 11-6 “Kalman Polar Lines” feature parameters

11.4.2 Kalman Corners

The following table lists all main parameters of the section “Kalman Corners”.

Parameter name Description

Enable Value format: yes / no
Unit: Boolean
Explanation: This value enables the corner feature recognition.
Min Point Size Value format: 6
Unit: Int
Explanation: The minimal required number of laser points on two corner lines. If
a physical corner landmark is noticed with less laser points, it is not detected as a
feature.
Note: This value depends on the laser beam resolution. The lower the resolution
is, the higher this value can be parametrized to avoid unnecessary mapping frag‐
ments.

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11.4 Feature parameters

Min Seg Len Value format: 10.0

Unit: in [cm]
Explanation: This parameter specifies the minimal length of both corner lines.
Features below this value are ignored. The allowed minimum of this value is
10 cm.
Min Side Len Value format: 15
Unit: in [cm]
Explanation: This parameter specifies the minimal length of a single corner line.
If one corner line is shorter than this value, the feature is ignored. The allowed
minimum of this value is 10 cm.
Note: For square-shaped corner landmarks, such as 10x10 cm pillars, the param‐
eters “Min Seg Len” and “Min Side Len” need to be equal.
Max Corner Gap Value format: 5
Unit: in [cm]
Explanation: The maximum allowed gap distance between both corner lines re‐
lated to the crossing point. If a corner line distance exceeds the parametrization,
the corner feature is ignored.
Corner Value: 90 10
Unit: in [deg,deg]
Explanation: Corner features are created out of two lines. The parameter “corner”
specifies the accepted angle that will be used for corner feature detection (in‐
cluding tolerance). The free space angle specifies the free visible angle that is
detected by the laser scanner. As an example, 90° angles +-10° will be detected.

In general, a corner is created out of two small polar line features and is therefore mostly
used to detect small hall columns.

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11.4 Feature parameters

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① Min Point Size

② Min Seg Len
③ Min Side Len
④ Max Corner Gap
⑤ Corner
Figure 11-7 “Kalman Corners” feature parameters

11.4.3 Kalman Cylinders

For all cylindric features and their detection, it is required to see at least 80 % of the half-circle
within one laser data measurement. This specification is required to differentiate between
different small features in great distances, for example < 10 meters.
The following table lists all main parameters of the section “Kalman Cylinders”.

Parameter name Description

Enable Value format: yes / no
Unit: Boolean
Explanation: This value enables the corner feature recognition.
Notice: For all cylindric features and their detection, it is required to see at least 80
% of the half-circle within one laser data measurement.
Min Diameter Value format: 10.0
Unit: Unsigned Float in [cm]
Explanation: The minimal allowed diameter of cylindric landmarks to be recog‐
nized as a feature. The allowed minimum of the value is 10 cm. Features below
this parametrized value are ignored.

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11.4 Feature parameters

Max Diameter Value format: 40.0

Unit: Unsigned Float in [cm]
Explanation: The maximal allowed diameter of cylindric landmarks to be recog‐
nized as a feature. Features above this parametrized value are ignored.
Point Min Value format: 10
Unit: Unsigned Int
Explanation: The minimal required number of laser points on a cylindric feature.
If a physical cylindric landmark is noticed with less laser points, it is not detected
as a feature.
Note: This value depends on the laser beam resolution. The lower the resolution
is, the higher this value can be parametrized to avoid unnecessary mapping frag‐
ments.
Min Range Value format: 20.0
Unit: Unsigned Float in [cm]
Explanation: The minimal allowed distance between cylindric features and laser
devices. If a feature is closer to a laser device than the parametrized minimum
distance, it is ignored.
Max Range Value format: 1000.0
Unit: Unsigned Float in [cm]
Explanation: The maximum allowed distance between cylindric features and laser
devices. If a feature is above the parametrized distance in relation to laser scanner
devices, it is ignored.
Max Gap Value format: 7.0
Unit: Unsigned Float in [cm]
Explanation: The maximum allowed distance between two laser points for a cy‐
lindric feature point interpolation. If a laser point exceeds this limit, the feature
interpolation is stopped, and all following laser points are not considered for the
final feature creation.
Note: The most common range for this parameter is 5 to 10 cm.

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11.4 Feature parameters

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① Min Diameter
② Max Diameter
③ Point Min
④ Min Range
⑤ Max Range
⑥ Max Gap
Figure 11-8 "Kalman Cylinders" section parameters

11.4.4 Kalman Reflectors

In case of reflective materials, scanner devices label laser beams as reflective beams by
themselves. This information is used in SIMOVE ANS+ to differentiate between normal and
reflective features. Reflectors can be used within dynamic environments to stabilize localization
or to mark small objects, such as T- or I-beam hall pillars, for feature detection.
The following table lists all main parameters of the section “Kalman Reflectors”.

Parameter name Description

Enable Value format: yes / no
Unit: Boolean
Explanation: This value enables the reflector feature recognition.

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11.4 Feature parameters

Reflector Value format: Mode Diameter Uncertainty – for example.: Pillar 10.0 2.0
Unit:
• String expression
• Mode Enum [Auto, Wall, Pillar]
• Diameter & Uncertainty Float in [cm]
• Space separated values
Explanation: Each type of reflector in the environment needs to be specified with
its own parameter set and its related three values. A reflector is only created if the
detected width/diameter is within the given tolerance range:
-Uncertainty ≤ Diameter ≤ +Uncertainty
WARNING
It is not allowed to overlap the width/diameter tolerance range for different re‐
flector parameters.
Note: The amount of reflector types for one project needs to be reduced to a
minimum. The value for Uncertainty should be kept at 2 cm. The uncertainty is
required to specify a valid range for reflector features, as reflective beams are only
set by laser devices within specific distance and angle.
Point Min Value format: 10
Unit: Unsigned Int
Explanation: The minimal required number of laser points on a reflector feature.
If a physical reflective landmark is noticed with less laser points, it is not detected
as a feature.
Note: This value depends on the laser beam resolution. The lower the resolution
is, the higher this value can be parametrized to avoid unnecessary mapping frag‐
ments.
Min Range Value format: 20.0
Unit: Unsigned Float in [cm]
Explanation: The minimal allowed distance between reflector features and laser
devices. If a feature is closer to a laser device than the parametrized minimum
distance, it is ignored.
Max Range Value format: 1000.0
Unit: Unsigned Float in [cm]
Explanation: The maximum allowed distance between reflector features and laser
devices. If a feature is above the parametrized distance in relation to laser scanner
devices, it is ignored.

The following illustration visualizes the parameters in an exemplary schematic picture.

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11.4 Feature parameters

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① Reflector type: Wall reflector
② Reflector type: Cylindric reflector
③ Min Range
④ Max Range
⑤ Point Min
⑥ Reflective beam
Figure 11-9 “Kalman Reflectors” feature parameters

11.4.5 Kalman LineMidPoints

The following table lists all main parameters of the section “Kalman LineMidPoints”.

Parameter name Description

Enable Value format: yes / no
Unit: Boolean
Explanation: This value enables the line middle point feature recognition.

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11.4 Feature parameters

Segment Value format: Length Uncertainty MinPoints – for example: 100 5 10

Unit:
• String expression [Length, Uncertainty, MinPoints]
• Length & Uncertainty Float in [cm]
• MinPoints Unsigned Integer
• Space separated values
Explanation: Each type of segment in the environment needs to be specified with
its own parameter set and its related three values. A segment is only created if the
detected length is within the given tolerance range:
-Uncertainty ≤ Length ≤ +Uncertainty
WARNING
It is not allowed to overlap the length tolerance range for different reflector seg‐
ments.
Note: The number of different segments for one project needs to be reduced to a
minimum.
MaxGap25D Value format: 5.0
Unit: Unsigned Float in [cm]
Explanation: The maximum allowed distance between two laser points for line
feature expansion. If a line is recognized and created, it is expanded for every laser
point that is lower than the parametrized gap distance. If a laser point exceeds this
limit, the feature expansion is stopped, and a new feature is created in consider‐
ation of all other parameters. For line middle points, this value needs to be ad‐
justed, so that the entire segment length is detected without any interruption.
Note: The most common range for this parameter is 7 to 15 cm.
Min Range Value format: 10.0
Unit: Unsigned Float in [cm]
Explanation: The minimal allowed distance between line middle point features
and laser devices. If a feature is closer to a laser device than the parametrized
minimum distance, it is ignored.
Max Range Value format: 1000.0
Unit: Unsigned Float in [cm]
Explanation: The maximum allowed distance between line middle point features
and laser devices. If a feature is above the parametrized distance in relation to
laser scanner devices, it is ignored.

The following illustration visualizes the parameters in an exemplary schematic picture. A line
middle points feature is created in the middle of a fixed specified line feature (segment). With
this information, an additional orientation value is created for the localization. This feature is
mainly used for station approaches.

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11.4 Feature parameters

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① Segment type
② MaxGap25D
③ Min Range
④ Max Range
⑤ Segment
⑥ LineMidPoint feature
Figure 11-10 “Kalman LineMidPoints” feature parameters

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11.5 Navigation parameters

11.5 Navigation parameters

Within the SIMOVE system architecture, the ANS+ system commands the AGV along a virtual
path or along a planned path. A hybrid behavior is used here. With active motion, the velocity
vectors of the AGV are calculated directly in ANS+ and transferred to the carrier control.
In the case of holonomic driving behavior and spot rotation VTS is still used, where motion
control takes place in the PLC. ANS+ automatically decides which behavior should be used for
the respective application.
Nevertheless, the navigation parameters specify default guidelines for an AGV regarding the
kind of movement behavior in which an engineered / planned path has to be followed.
Those behaviors can also be overwritten by Carrier Control program during runtime.
The following table lists all main navigation parameters of different parameter sections.

Parameter name Description

Kinematics Value format: Differential
Unit: String Enum [Differential, TriCycle, Mecanum]
Explanation: The general kinematic of the related AGV. The value “Mecanum” is
representative for any other holonomic kinematic.
Orientation Mode Value format: TimeOptimal
Unit: String Enum [KeepForward, TimeOptimal]
Explanation: This parameter specifies the default movement behavior of a com‐
manded order. “KeepForward” forces the ANS+ to command an AGV in +X direc‐
tion along a virtual path. For “TimeOptimal”, the ANS+ system is allowed to cal‐
culate and decide for the fastest movement direction (forward, backward) in
relation to the commanded order.
Global Frame Id Value format: “Test.map”
Unit: String format [“<MapName>.map”]
Explanation: While SIMOVE ANS+ is capable of handling multiple maps during
runtime, an overlayed system is not aware of those map changes. Therefore, each
project requires defining one map as the main or global map for the entire data
content. All values that are received by ANS+ are calculated towards this para‐
metrized main map origin.
Odometry Ist Range Value format: 25.0
Unit: Unsigned Float in [cm]
Explanation: In consideration of the parametrized distance, the ANS+ system
suppresses localization updates in front of the last commanded ident point. If the
localization is ignored, the motion of the AGV is controlled based on odometry
data. This feature can be used to avoid movement failures due to localization
jumps for aim approaches.
Target Radius Value format: 1.0
Unit: Unsigned Float in [cm]
Explanation: Specifies the size of the snap radius around commanded ident
points. If an AGV is in this tolerance, an ident point is evaluated as “reached” and a
notification is sent to the Carrier Control system.
Note: The SIMOVE ANS+ target values always relate to the ident point’s center
position independent of the parametrized value.

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11.5 Navigation parameters

Target Mode Value format: Circle

Unit: String Enum [Circle, HalfCircle]
Explanation: Similarly to the parameter “Target Radius”, this parameter specifies
the shape of the snap radius for ident point notifications. The value “HalfCircle”
allows the system to try to reach a final commanded ident point’s pose in the most
precise way for X positioning.
Note: By using “HalfCircle”, a minimal VS (“Virtual speed”) velocity may be re‐
quired in Carrier Control system to avoid minimalistic and time demanding posi‐
tioning approaches.
Target Dis Value format: 75.0
Unit: Unsigned Float in [cm]
Explanation: Defines the distance between the kinematic center and commanded
ANS+ target along a virtual path. When reducing the target distance, it is neces‐
sary to reduce the velocity of the AGV proportionally to guarantee stable move‐
ments.
Note: The target distance can be commanded dynamically from the Carrier Con‐
trol system. In this case, the transferred value overwrites this parameter.
Odometry Start Dis Value format: 20.0
Unit: Unsigned Float in [cm]
Explanation: Starting from an initial ident point after standstill, the SIMOVE ANS+
system suppresses localization updates within the parametrized distance. If the
localization is ignored, the motion of the AGV is controlled based on odometry
data. This feature can be used to avoid localization jumps and therefore move‐
ment failures in narrow areas, such as stations.

The following illustration visualizes most of the parameters in an exemplary schematic

picture.

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11.5 Navigation parameters

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① Kinematics ⑥ Odometry Start Dis
② Odometry Ist Range ⑦ Target Dis
③ Target Radius ⑧ Target +X
④ Target mode "Circle" ⑨ Target +Y
⑤ Target mode "Half circle"
Figure 11-11 General navigation parameters

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11.6 Localization parameters

11.6 Localization parameters

The main localization parameters need to be reviewed and adjusted for each AGV type, as AGVs
are complex systems in which each included technology, such as mechanic, drives, and laser, has
its own tolerances and failures. With the explained localization parameters, the ANS+ system is
fine-tuned to avoid failures, such as a systematic failure. A systematic failure is understood to be
the deviation of a measured value from its true value.
Localization parameters define in which weighting factor incoming data from laser devices
and Carrier Control system is interpreted. This parametrization has a great impact on the
localization behavior and tolerance of compensating incoming underlying data failures.

Parameter name Description

Localization Source Value format: Laser
Unit: String Enum [Laser, Epi]
Explanation: With this parameter, the localization type can be switched between
the default laser-based localization of ANS+ or an external pose, received over the
“External Pose Interface” (EPI). For further information regarding the EPI, refer to
chapter External Pose Interface (Page 226).
WARNING
Before changing the value to “Epi”, the external pose needs to be evaluated re‐
garding, for example, localization jumps, map dimensions, localization offsets. It
is only recommended to change this value if the SIMOVE ANS+ and the external
system have an aligned coordinate frame and the same dimension interpretation
of the environment.
Default Type Value format: OdoLaser
Unit: String Enum [OdoWheel, OdoLaser]
Explanation: With this parameter, the default odometry type is specified. The
related input model is used for sensor fusion within laser-based localization. If set
to “OdoWheel”, the received data of the PLC system is directly used for localization
sensor fusion. Otherwise, for “OdoLaser”, an additional sensor fusion using the
laser scanner’s raw data is inserted compensate failures of the underlying wheel
odometry better.
Note: For wheel odometry tests, the value needs to be set to “OdoWheel”.
Min Pos Error Value format: 0.005
Unit: Unsigned Float in [m]
Explanation: With this parameter, a systematic failure is assumed for the AGV
position.
Min Rot Error Value format: 0.2
Unit: Unsigned Float in [deg]
Explanation: With this parameter, a systematic failure is assumed for the AGV
orientation.
Rot Error Value format: 20.0
Unit: Unsigned Float in [%]
Explanation: Specifies the weighting factor between incoming odometry and la‐
ser-based orientation values. The higher the value is, the more the system relies
on laser-based values.

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11.6 Localization parameters

Slip Error Value format: 10.0

Unit: Unsigned Float in [%]
Explanation: Specifies the weighting factor between incoming odometry and la‐
ser-based position values. The higher the value is, the more the system relies on
laser-based values.
Start Pos Unc Value format: -1
Unit: Unsigned Float in [m]
Explanation: Tolerated localization uncertainty in X and Y for starting or reinitial‐
izing localization pose functions, for example, via PLC or ANS+ ET “setPose”. If the
localization is shifted too much due to feature mismatches, this parameter can,
for example, be set to 0.1 m to reduce the allowed uncertainty.
The special value “-1” sets the tolerance to 0.5 x “Max Pos Unc”.
WARNING
If this parameter is reduced, the AGV has to be positioned exactly on the specified
setup pose within the parametrized tolerance. Otherwise, localization offsets
might not be compensated.
Start Rot Unc Value format: -1
Unit: Unsigned Float in [deg]
Explanation: Tolerated localization uncertainty in rotation for starting or reiniti‐
alizing localization pose functions, for example, via PLC or ANS+ ET “setPose”. If
the localization is shifted too much due to feature mismatches, this parameter
can, for example, be set to 1° to reduce the allowed uncertainty.
The special value “-1” sets the tolerance to 0.5 x “Max Rot Unc”.
WARNING
If this parameter is reduced, the AGV has to be positioned exactly on the specified
setup pose within the parametrized tolerance. Otherwise, localization offsets
might not be compensated.
Max Pos Unc Value format: 1.0
Unit: Unsigned Float in [m]
Explanation: Maximum allowed localization uncertainty error in translation. If the
uncertainty exceeds the limit, the SIMOVE ANS+ failure “Loc lost” (0x2791) occurs.
Max Rot Unc Value format: 10.0
Unit: Unsigned Float in [deg]
Explanation: Maximum allowed localization uncertainty error in orientation. If
the uncertainty exceeds the limit, the SIMOVE ANS+ failure “Loc lost” (0x2791)
occurs.
Restore Loc Pose En‐ Value format: yes
able Enables automatic localization initialization after reboot.

See also
Holonomic movement (Page 219)

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11.7 Motion parameters

11.7 Motion parameters

The main motion parameters need to be reviewed and adjusted for each AGV type.
In order to use the planner functionality, a gridmap needs to be recorded in advance.
Also, the section "Motion AGV" needs to be enabled.

Note
Motion should be only activated, when the AGV has a 360-degree scanner field.

Parameter name Description

Laser Id 2D Value format: 0,1,2,3
Unit: enum [0,1,2,3]
Activate laser scanners for obstacle avoidance. Each laser that should be used for
obstacle avoidance has to be specified here.
Map File Path Value format: "../atlas/NbgShowroom.yaml"
Unit: string [path/filename.yaml]
Refers to the related yaml-map file that should be used for the global and local
planner. Within this file, the global grid map is being stored.
Minimum Turning Value format: 0.3
Radius Unit: in [m]
The value specifies the minimal turning radius for global planned trajectories. It
should be greater then "Min Curve Radius" at "Motion Flow Kraken Controller"
Tunnel Width Value format: 1000
Unit: in [cm]
Defines the orthogonal maximum allowed distance around a path , that the vehi‐
cle is allowed to drive (e.g. to avoid obstacles)
Approach Length Value format: 100
Unit: in [cm]
Automatically considered straight distance for planned paths in front of a goal
Min Curve Radius Value format: 0.2
Unit: in [m]
Minimal curve radius of the AGV used for alternative trajectory calculation
Longitudinal Dis‐ Value format: 0.2
tance Unit: in [m]
Distance of alternative trajectories in +X-direction. Can be applied several times.
Sync Lateral Distan‐ Value format: 0.2
ces Unit: in [m]
Alternative trajectory distance related to Y-direction. Can be applied several times.
V Max Value format: 0.5
Unit: in [m/s]
Max. forward speed which can still be driven even in rotation
A Max Value format: 0.3
Unit: in [m/s^2]
Max. forward acceleration which can still be reached in rotation

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Parametrization
11.7 Motion parameters

Parameter name Description

A Max Decel Value format: 0.5
Unit: in [m/s^2]
Max. brake acceleration which can still be reached in rotation
Omega Max Value format 35.0
Unit: in [deg/s]
Max. rotation velocity which can still be reached with additional forward velocity
A Omega Max Value format: 45.0
Unit: in [deg/s^2]
Max. rotation acceleration which can still be reached with additional forward ve‐
locity
A centripetal Max Value format 0.05
Unit:[0.01 ... 1]
Automatic speed reduction within curves. A higher value increases the speed of
the AGV within a curve.

Note: The curve radius appears under the square root. This means that the vehicle
will quickly decrease with more sharp curves.
Footprint Padding Value format: 10
Local Unit: in [m]
If activated, global and local planner yaml-file parametrization is overwritten.
Extended local footprint
If value < 0: common footprint is taken.
Footprint Padding Value format: 20
Global Unit: in [m]
Extended global footprint
If activated, global and local planner yaml-file parametrization is overwritten.
Extended local footprint
If value < 0: twice of common footprint is taken.
Motion Combined Value format: 9
Costmap – Width Unit: in [m]
Local
If activated, global and local planner yaml-file parametrization is overwritten.
This value specifies the width of the local view of local planner in a square format.

Note
The value for the Minimum Turning Radius should be chosen greater than "Min Curve Radius" at
the section "Motion Flow Kraken Controller", because the global setting needs to be greater than
the local setting.

Within the section "Motion Flow Kraken Controller" the alternative trajectories, that are
used for the free path planning, can be configured. The longitudinal distances specify all
alternative trajectories in X-direction, as shown in the figure below. The Lateral Distances are
specifying all lateral trajectory distances within Y-direction.

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11.7 Motion parameters

The following illustration visualizes most of the parameters in an exemplary schematic

picture.

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① Command goal ⑦ Parameters "Sync Lateral Distances"
② Parameter "Approach length" ⑧ Parameter "Min Curve Radius"
③ Parameter "Minimum Tuning Radius ⑨ Virtual track
④ Global planned trajectory ⑩ Ident point
⑤ Parameter "Longitudinal Distance" ⑪ Footprint Padding Local
⑥ Parameter "Tunnel Width" ⑫ AGV bounding box (outline)
Figure 11-12 General motion parameters

See also
Parameter setup (Page 55)

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11.8 AGV shape (outline)

11.8 AGV shape (outline)

The AGV shape specification is mandatory to parametrize for each AGV type, as outlines are used,
for example, to filter invalid laser beams. A shape is a polygon related to the kinematic center of
an AGV and specified by parameters within the “user_def” file.
A shape can be parametrized in detail by using a CAD diagram. Alternatively, it is also
possible to specify a “bounding box” of the AGV, which contains the full AGV shape in less
detail.

ੀ ੁ

① Kinematic center
② Detailed AGV shape
③ Bounding box example
Figure 11-13 Exemplary AGV shape visualization of a forklift in the ANS+ ET

This table provides an explanation of the related parameter for shape parametrization.

Parameter name Description

Outline Point Value format: Standard X Y – for example: Standard 108.0 25.5
Unit:
• String expression [Standard, X, Y]
• Standard fixed beginning
• X & Y Float in [cm] related to the kinematic center
Explanation: Each outline point specifies a new corner point for the shape polygon
related to the AGV’s kinematic center.
WARNING
An AGV shape polygon needs to be defined clockwise. The first and the last outline
point of a shape need to be equal.

The following lines represent the related parametrization for the forklift shape in the
illustration above.

// Forklift
Outline Point : Standard 108.0 25.5 // Start point – Fork left

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11.8 AGV shape (outline)

Outline Point : Standard 108.0 45.0

Outline Point : Standard 174.5 45.0
Outline Point : Standard 181.0 38.5
Outline Point : Standard 181.0 -38.5
Outline Point : Standard 174.5 -45.0
Outline Point : Standard 108.0 -45.0
Outline Point : Standard 108.0 -25.5
Outline Point : Standard -14.0 -25.5
Outline Point : Standard -14.0 -13.5
Outline Point : Standard 108.0 -13.5 // Fork right
Outline Point : Standard 108.0 13.5
Outline Point : Standard -14.0 13.5
Outline Point : Standard -14.0 13.5
Outline Point : Standard -14.0 25.5
Outline Point : Standard 108.0 25.5 // Finish new outline with start point

Outline Visualization
The visual outline is the outline that the user has defined as the default outline. This should be
as close as possible to the real AGV sizes.
For motion to work properly, it needs a convex outline. This convex outline is also referred to
as a technical outline. This is used internally in the NC for all calculations.
The following illustration shows the difference between the visual and technical outline.

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11.8 AGV shape (outline)

The technical outline is automatically generated by the software. The user only has to define
the standard outline.

Visual (FIGURE Outline_standard) Technical (FIGURE Outline_technical

If you want to switch between the visual and technical outline in the engineering tool, this
can be done in the "Configure device visualization" window.

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11.8 AGV shape (outline)

Figure 11-14 User defined Outline

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11.8 AGV shape (outline)

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Deployment 12
This chapter describes how to commit defined stages and transfer data remotely to ANS+.
For this purpose, the tool offers the "Deployment" page.
More information:
• ""Deployment" page (Page 48)"

Change detection

ࡴ
ࡳ
ࡵ

① Commitment
② Last done commit
③ Change detected
④ Detailed information where changes have been detected
Figure 12-1 Deployment: Change within current files detected

The ANS+ ET offers a function to automatically detect changes between the latest committed
data stage and the current data. Furthermore, the current state of maps, paths and
parameters on the AGV can be saved.

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Commitment
The following procedure describes how to do a new commitment, in case for a direct use of the
tool on the AGV.
1. Make all required changes to the system and test them.
All changes will be directly written to the related files, meaning that after a restart of the
ANS+ NC module, those changes will be applied by the system.
2. If all maps, paths and parameters have been successfully tested, a commit should be done to
save the state of the files.
For this purpose, click .
The dialog "Uncommitted changes" is opened.

Figure 12-2 Dialog "Uncommitted changes"

The user has the following options:

Commit changes Saves all changes within maps, paths, and parameters within a new
commit.
Discard changes All changes will be undone.
The tool will set all files back to the last done commit:
• Maps
• Paths
• Parameters
Cancel Aborts the current process and leaves everything as it is.

3. After a successful commit, new changes can directly be tested without doing a new
commitment, as all changes will be directly written to the related files.
4. In case of wrong parameterization or engineering, click "Discard changes".
This will undo all changes between the current state and the last commit.

Remote commitment
In case of a remote connection between the tool and the ANS+ system on the AGV, all files are
edited on the PC that was used to start the ANS+ ET.
To send the files (maps, paths and/or parameters) to the ANS+ system on the AGV, the
deployment function needs to be used.

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The following procedure describes a step-by-step guidance for a successful remote file
transfer between an engineering PC and an AGV.

Note
Committed stage required
It is only possible to deploy files to remote operating systems if both systems are in the
committed stage.

Procedure
1. Start the ANS+ ET on the engineering PC and connect to the web-based UI.
More information:
– "Remote access (Page 30)"
2. Edit all files and save their current state.
3. Select the "Deployment" page within the tool.
4. Connect to the related AGV.
More information:
– "Add and connect to a new device (Page 53)"
5. Click to do a commitment of the engineering PC and click on "Commit changes".
6. Select the related AGV and click to do a remote commitment of the AGV.
If a "Name conflict" occurs, use the name of the engineering PC for the AGV.
Both systems, the engineering PC and the AGV, are now in the mandatory committed stage
and are ready for deployment.
7. Select the transfer option.
The following file transfer options can be used, if both systems are in the committed stage:

Parameter files download PC → AGV

Parameter files upload AGV → PC
Environment files download PC → AGV
Environment files upload AGV → PC

8. After one transfer, the system requires a committed stage for another deployment again.
All changed files on the AGV will only be applied by the ANS+ system if the system is rebooted.

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Track integration 13
This chapter describes a process to handle the following two user stories with ANS+:
• Integration of a new AGV
A new AGV is fully commissioned and needs to be integrated into the fleet and the track
layout to be able to receive valid orders by a master control system.
• Reintegration of an AGV
Due to a necessary task, such as maintenance, the AGV needs to be reintegrated into the
track layout for valid orders by a master control system.
In both stories, the ANS+ is not aware of its initial position and orientation in the
environment due to its boot routine. The system therefore has its localization deactivated
and requires additional information to initialize its localization. The localization requires a
valid pose in a map, which consists of four elements: X and Y position, orientation and map
name. This information can be sent to the ANS+ system in different ways:
• Initial order: Each job that is sent after a boot routine or a previously completed task is an
"initial order". A pose is estimated by using the first commanded ident points, position and
the following path segment for orientation.
• UID & orientation: The system uses the ident point ID to estimate the map name and
position data. The transferred orientation is used to complete the required information data.
• Complete pose: If all four elements are valid and sent to the ANS+ system, the complete data
is used to initialize the localization.
All three types of information can be provided to the SIMOVE ANS+ by using the ANS+ ET or
the SIMOVE Carrier Control, such as via HMI. This architecture has been designed to address
the following track integration approaches.

Initial order
In case of an unlocalized AGV, this approach requires positioning the AGV on the position of the
first commanded ident point and in the same direction as the initial path segment is
commanded.

Figure 13-1 Track integration approach for initial jobs

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Track integration

Reverse initial order

If an AGV is unlocalized and it is not possible to position the AGV in the expected orientation, the
localization must be initialized via the ANS+ ET "set Pose" function or by SIMOVE Carrier Control,
such as via HMI.

Figure 13-2 Track integration approach for reverse initial jobs

Initialization on edge
It is also possible to initialize an AGV directly on an edge belonging to a virtual path of the
SIMOVE ANS+ system. In this case, it is either possible to use the ANS+ ET “setPose” function or
the PLC data structure to set up the localization. For localization initialization, the following data
is mandatory: X, Y, A and MapId. Once the AGV is located in the map, it is required to start the
initial order with the edge at which the AGV is physically standing.

Figure 13-3 Track integration on an edge

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Order cancelation
An active running order can be canceled at any time. Directly after the cancelation, the AGV will
ramp down the speed and stop immediately. When stopping on the track between two
identpoints, the AGV can continue driving, if the segment of the path is send again. For example,
when stopping between the Identpoints 1 and 2, the AGV will continue driving on the path, if
the order 1 -> 2 (or 2 -> 1) is sent again.

Figure 13-4 Track integration after cancelation of the order

Power loss
The SIMOVE Carrier Control permanently saves the localization pose during a running order. If
a power loss occurs, the PLC automatically detects an outstanding task after rebooting. For this
purpose, the last known order including the latest known localization pose is immediately sent
to the ANS+ for initialization. Once the AGV is back in “Automatic Start” mode, it moves directly
to the next ident point for a determined position and waits for the next Master Control job.

Figure 13-5 Track integration approach for power loss situations

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Maintenance
In this situation an AGV failure occurs, which requires more time to solve. For this case, the
current AGV’s position is marked on the ground. Afterwards, the AGV is moved with a manual
control device and fixed next to the path. Once the failure is solved, the AGV is again manually
positioned at its previously marked position. The AGV continues its pending order, once
“Automatic Start” mode is activated. During the entire approach, the localization of ANS+ is
running.

Figure 13-6 Track integration approach in case of maintenance

Planned trajectory
Free path planning can be used to bring the AGV back onto the planned track, alternatively to
manually moving the AGV back to a previous position (e.g. due to maintenance). As shown in the
figure below, the AGV needs to be initialized in the map, next to a path. As a prerequisite, motion
needs to be activated and the AGV has to be physically able to drive from its current position in
the map back to an Identpoint on the path.

Figure 13-7 Track integration by using free path planning to merge back onto the track

Blocked paths
This chapter describes the track integration while a path is being blocked. The first line of the
figure below shows a scenario, when motion is disabled and the second line shows a scenario,
when motion is enabled.

Motion is disabled:
The AGV is driving on the path, until the safety field is interrupted by the obstacle on the
path. Depending on the size of the safety field, the AGV is stopping on the path in front of
the obstacle and will only continue, if the obstacle is being removed.

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Figure 13-8 Track integration of blocked paths with motion disabled

Motion is enabled:
When motion is enabled and the preconditions for the free path planning and obstacle
avoidance are fulfilled (e.g. creation of grid map and parameterization within user_def), the
vehicle will drive around the obstacle, merge onto the track and continue driving on the path.

Figure 13-9 Track integration of blocked paths with motion enabled

See also
Manual movement orders (Page 207)

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Advanced information 14
14.1 Manual movement orders
This chapter describes a commissioning option to manually test the designed ANS+ layout, the
related maps and the movement of the AGV in relation to its localization. This procedure is used
if no master control system is available.
For this purpose, an established connection between the ET and the ANS+ NC module on
the AGV is required (see chapter "Status" page (Page 49)). Additionally the “AGV command
toolbar” (shown in illustration 2‑10) is required.

WARNING
Check for correct position before starting
Before using the below described order command, ensure that the related AGV is physically
standing on an ident point in direction of the default movement direction of the path layout.
More information:
Track integration (Page 201)
Check for activated safety before starting
Since the command can be taken for commissioning, ensure that the command is used as
described to avoid failures. No safety check of the command will be done.

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14.1 Manual movement orders

Procedure
To avoid failures in commanding, use the following step-by-step guidance for an automatic
movement of an AGV between the engineered ident points.
1. Position the AGV on an ident point with a manual control device using a manual control
device. Ensure that the AGV is oriented in the movement direction of the next commanded
order.
The position of the AGV does not need to be very precise, as the ANS+ system is capable of
handling position offsets at the beginning.

ੂ
① ID: 1
② Movement direction order 1 → 5
③ ID: 5
Figure 14-1 AGV track integration

2. To verify the position of the AGV and the offset handling of the ANS+, click the related device
and select .

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14.1 Manual movement orders

3. Click roughly on the related ident point in the map at which the AGV is physically standing.
– With the first click of setting up the AGV pose, the X and Y coordinate are applied.
– With a second click, the orientation of the AGV is defined.
In the end, this pose will be transferred to the ANS+ system and used for the localization.

Figure 14-2 Successful manual setting of the AGV pose

By enabling the laser data visualization, the result of the localization can be evaluated:
– If the features detected online (turquoise lines) are roughly on the offline features (black
lines), the localization has been set successfully and the AGV is ready for manual orders.
– If the online features do not match to offline ones, it is necessary to position the AGV
manually more precisely to the trained ident point position.
4. Before commanding verify that automatic start has been activated the AGV is within Virtual
Track Sensor (VTS) mode.
The AGV is only allowed to drive with ANS+ in case of a fully activated automatic mode.
To use the command, it is required to have an established connection to the related AGV.
5. To open the "AGV command toolbar", click .
6. Enter the AGV command.
7. To transfer the typed in order to the ANS+ NC module, press <Enter> or click "Send".

AGV commands
The AGV command can be used with the following string:
order <ID1>_<ID2> <ID2>_<ID3>

Order Fixed beginning

<ID1> Placeholder for the ident point name
<ID2>_<ID3> Complete order from first to second ident point combined with a
single underscore
<ID1>_<ID2> <ID2>_<ID3> Multiple orders behind each other separated by a single space

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14.1 Manual movement orders

WARNING
Check for correct position
<ID1> always needs to be the ident point ID of the related ident point, at which the AGV is
physically standing.

Examples

Example: Single manual order

order 110_112
The example string will be interpreted by the ANS+ NC module as follows:
1. One single drive order is passed: 110→112.
2. The AGV is currently physically standing at the ident point 110 in the defined default
movement direction.
3. The AGV has to drive from the ident point 110 to 112 directly.
4. After reaching the ident point 112 no further tasks will be executed and the AGV stops at
ident point 112.

Example: Different starting position

order 112_110
This string will be interpreted by the ANS+ navigation control as follows:
1. One drive order is passed: 112→110.
2. The AGV is currently physically standing at the ident point 112 in the defined movement
direction.
3. The AGV has to drive from the ident point 112 to 110 directly.
4. After reaching the ident point 110 no further tasks will be executed and the AGV stops at ID
110.

Example: Multiple drive orders

order 110_112 112_110 110_112
This string will be interpreted by the ANS+ navigation control as follows:
1. Three drive orders are passed: 110→112 | 112→110 | 110→112.
2. The AGV is currently physically standing at the ident point 110 in the defined movement
direction.
3. The AGV has to drive from the ident point 110 to 112, followed by another order 112 to 110
and a final order 110 to 112.
4. The AGV drives continuously at its maximum speed until it reaches the third and last drive
order.
After passing the ident point 110 within the last order, the AGV will stop at ident point 112.

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14.2 Order Handling from PLC

14.2 Order Handling from PLC

The orders are transmitted to ANS+ via the "LSimoveC_Nav_Track_ANS_MT_Host" block (host
interface) using the TCP protocol. The individual edges that the AGV should run in ANS+ are
transferred to the edges input. As soon as the "release" input is true, these edges are written to
the orderBuffer and transferred to ANS+.
It is only possible to transfer 4 edges to the function block at the same time. A total of
20 edges can be buffered in the function block.
In order to transfer the edges correctly to ANS+, the correct start point (sourceId) and the
correct destination point (destID) must be stored in the desired edge. In addition, optional
route information (optRouteInfo) can be transferred with the edge.

Note
All parameters in section optRouteInfo are optional. If they have the default value, the
parameters will not be used in ANS+.

optRouteInfo Data Type Default Value Description

sourceCoord LSimoveC_ Source coordinates in x,y,a [mm, mm,
typeXYAVectorVDA deg]
x Real 3.402823E+38 Source coordinate x in mm
y Real 3.402823E+38 Source coordinate y in mm
a Real 3.402823E+38 Source coordinate a in rad
sourceDev UDInt 4_294_967_295 Source deviation in mm
destCoord LSimoveC_ Destination coordinates in x,y,a [mm,
typeXYAVectorVDA mm, deg]
x Real 3.402823E+38 Destination coordinate x in mm
y Real 3.402823E+38 Destination coordinate y in mm
a Real 3.402823E+38 Destination coordinate a in rad
destTargetRadius UDInt UDInt Destination deviation (target radius)
in mm defines a circle around the des‐
tination position, which the AGV must
reach.
orientationGlobal Real 3.402823E+38 AGV moves along the edge with a
global orientation [mdeg]related to
the global map coordinate system.
Note: This driving behavior can only
be performed by vehicles with holo‐
nomic movement (ANS+ Kinematics:
Mecanum).
orientationTangential Real 3.402823E+38 AGV moves along the edge with a tan‐
gential orientation [mdeg] related to
the edge.
Note: This driving behavior can only
be performed by vehicles with holo‐
nomic movement (ANS+ Kinematics:
Mecanum).

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14.2 Order Handling from PLC

optRouteInfo Data Type Default Value Description

tunnelWidth UInt 65535 Defines the orthogonal maximum al‐
lowed distance around a path, that the
vehicle is allowed to drive (e.g. to
avoid obstacles)
maxSpeed UInt 65535 Maximum Speed in driving direction
goalApproachLength UInt 65535 Plan a straight goal approach with the
global planer.
Note: This parameter has only an ef‐
fect with free path planning.
routeFlags Array[0..15] of Bool
route Bool false Reserve bits
Flags[1-7]
route Bool false Allow rotation on edge.
Flags[8] When this bit is set to true, the AGV is
rotationAllowed allowed to start driving on the edge,
while rotating to a global or tangential
orientation.
route Bool false When the bit is set to true, the collision
Flags[9] avoidance check will be deactivated
on that specific edge
collisionAvoidance
Inactive
orientation Bool false Reserve bits
Flags[10-15]
mapIDfromUser Array[0..25] of Char false Map name

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14.3 Parameter Prioritization

14.3 Parameter Prioritization

All ident point and edge parameters can be defined by different sources. There is a fixed hierarchy
which parameters are finally used in ANS+.

1. PLC
The PLC has the highest priority and overwrites all lower-level parameters.
An example:
If "move backwards" is set on an edge in the ET layout and a tangential orientation of 0
degrees is sent via the PLC, the PLC overwrites the backward signal and the AGV moves
forward.
Important: If the edges and ident points are not to be commanded by the PLC, the
parameters must be set to the default (maximum) values.

2. ET Path Layout
The ET layout has the second highest priority. If no valid parameters are commanded via
the PLC, the parameters stored here take effect. Here, both ident point parameters and edge
parameters can be stored in each created path. The edge parameters can also be specified in
both movement directions.

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14.3 Parameter Prioritization

Identpoint configuration Edge configuration

3. ET User_def
If the ident point or edge parameters are not set via the PLC or in the ET layout, the
parameters stored in the user_def file take effect. These parameters are valid for all ident
points and edges that are not explicitly overwritten.

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14.4 Movement behaviors

14.4 Movement behaviors

14.4.1 Default
This chapter describes general information about the specified movement behaviors of SIMOVE
ANS+.

Default
By default, SIMOVE ANS+ considers all AGVs to be bidirectional. This definition has been
specified to ensure the same default movement behavior for all kinematics, since holonomic
AGVs are able to follow a virtual line in the same way as bidirectional AGVs.
The default movement behavior can be changed by editing the parameter “Orientation
Mode”.

Figure 14-3 Parameter "Orientation Mode" related to default movement behavior

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14.4 Movement behaviors

There are two possible values for this parameter:

• KeepForward - The ANS+ system always commands the AGV in +X direction for the
specified default movement.

Figure 14-4 Default movement behavior of "KeepForward"

• TimeOptimal - This value enables an automatic forward and backward movement detection.
The system is commanding the AGV in short movements to fulfill its order related to the
designed path layout.

Figure 14-5 Default movement behavior of "TimeOptimal"

For specific movement behaviors, such as rotation on an ident point or holonomic

movements, ident point commands need to be parametrized. More details related to ident
point commands are described in the chapter Common layout guidance (Page 130). By
adding an ident point command, the default behavior of the AGV is overwritten and the
newly added command is executed until the next ident point is reached.

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14.4 Movement behaviors

Further default behavior specifications are:

1. Ident points are confirmed only in case of a running order and if the position and the
orientation have been reached by the AGV.
2. If an AGV always starts on an ident point in a specific orientation, the ident point command
"Orientation", explained in more detail within chapter Rotation on the spot (Page 217), is
required.
3. Rotations at the beginning of a new order, for example, due to a twisted starting pose, lead
to a rotation on the spot of the AGV under consideration of the parameter “Orientation Mode”
as shown in the illustration below.

Figure 14-6 Twisted starting pose behavior

See also
Global map parametrization (Page 105)
Holonomic movement (Page 219)

14.4.2 Rotation on the spot

Most path layouts require a specific orientation on an ident point. For this purpose, the ident
point command “Orientation” needs to be parametrized.

Note
The value of “Orientation” in degrees relays to the global map origin, which has to be
parametrized with the parameter “Global Frame Id”.
More information on this parameter: Map linking (Page 98).

A movement behavior with a commanded theta on ident point “2” is demonstrated in the
image below. Due to the default specifications, ident point “2” is only confirmed if the
position and rotation have been reached by the AGV.

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14.4 Movement behaviors

Figure 14-7 Movement behavior for Orientation

WARNING
Observe the parametrized orientation
If an AGV is starting an initial order without activated localization on an ident point, which has
been parametrized with the command "Orientation", the SIMOVE ANS+ expects the AGV to be
physically standing in the parametrized orientation.

See also
Global map parametrization (Page 105)

14.4.3 Movement direction on edge

For specific movement behaviors, such as moving specifically forwards or backwards, the edge
parameter “Movement Direction” can be parameterized.
This command also overwrites the global parameter “KeepForward / TimeOptimal”.

Selecting an edge and adding the required edge parameter will provide two columns in the
Edge Properties window to be specified for both possible directions, as shown in the figure
below.

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14.4 Movement behaviors

Figure 14-8 Apply edge commands with movement direction

14.4.4 Holonomic movement

Holonomic movement
Holonomic AGVs have three degrees of freedom, in contrast to bidirectional AGVs, which only
have two. Due to this additional degree of freedom, holonomic AGVs can fulfill movements in Y-
direction.

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14.4 Movement behaviors

For this kind of special movements, additional commands have been added to the SIMOVE
ANS+ system:
• Global edge orientation: This command describes a specific global orientation on a path
between two ident points. The value in degrees relays to a parametrizable global map origin.
Note
Parametrize the global map origin
The command relays to a global map origin, which has to be parametrized with the
parameter “Global Frame Id”.
More information on this parameter: Global map parametrization (Page 105).

Figure 14-9 Movement behavior of "Global edge orientation"

• Tangential edge orientation: In case of a specified tangential orientation, the defined

orientation value references the direction of the path direction in relation to the vehicle
orientation. The value is specified in degrees and the command is executed until the next
ident point is reached.

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14.4 Movement behaviors

Figure 14-10 Movement behavior of "Tangential edge orientation"

• Edge rotation allowed: To save time in production environments, this command enables an
AGV to fulfill a tangential or global direction while moving along a path.

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14.4 Movement behaviors

Figure 14-11 Movement behavior of "Edge rotation allowed”

Note
"Edge rotation allowed" is deactivated by default
By default, the setting "Edge rotation allowed" is deactivated. Therefore, all holonomic AGVs are
fulfill the parametrized orientation before entering the following path with a rotation on the
beginning ident point.

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14.5 Layout export

14.5 Layout export

To export layout information into a CSV file, the ANS+ NC module provides two functions. These
functions can be triggered over the ANS+ ET, as shown below.

Note
With the functions "export identpts" and "export layout" the entire data of the "atlas" directory
is exported and stored as a CSV file within the "atlas" folder.

Figure 14-12 Access to ANS+ NC layout export functions

Function "export identpts"

The function "export identpts" exports all path segments into a CSV file. A path segment
represents the logical connection between two ident points on a path. Therefore, this function
is mainly used to receive only the logical information of all ident points and their connections of
the related environment data. The following illustration shows an example CSV file, which has
already been imported to Microsoft Office Excel.

Figure 14-13 Exported logical layout by using “export identpts”

The columns provide the following information:

• SegmentName: Name of the segment between two ident points
• RouteFileName: Related path file name in which the data is saved
• MapFileName: Related map file name to which the data refers

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14.5 Layout export

• BiDirectional:
0: Path can be driven from starting to ending ident point
1: Path can be driven in both directions
• StartName: UID of the starting ident point of the path segment
• EndName: UID of the ending ident point of the path segment
• StartX [m]: X-position of the starting ident point related to map origin of "PointFrameId"
• StartY [m]: Y-position of the starting ident point related to map origin of "PointFrameId"
• EndX [m]: X-position of the ending ident point related to map origin of "PointFrameId"
• EndY [m]: Y-position of the ending ident point related to map origin of "PointFrameId"
• PointFrameId: Map name of the related map origin, to which X and Y values are
transformed. Depends on the parameter "Global Frame Id" in "user_def" file.

Function "export layout"

The function "export layout" exports the entire path layout information into a CSV file, also
including the control points of a path besides the path segments. This function is used to
recreate and/or redraw the full ANS+ path layout inside a different external system. The
following illustration shows an example CSV file, which has already been imported to Microsoft
Office Excel.

Note
The layout export sorts the individual segments of a path in ascending numerical order of a
segment’s start ID as exemplary depicted in Figure 12-13. This order is not necessarily identical
with the geographic order in which the AGV moves along a path (see e.g. path
203_211_Showroom.poc), as ident point numbering concepts are user specific and might jump
between each other.
In that case, the respective lines in the layout export file need to be moved by the user until they
meet the desired order. The control point order can remain.

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Figure 14-14 Exported entire path layout by using “export layout”

The columns provide the following additional information:

• Type: The type of the related data line.
Possible types: Path, Segment, ControlPoint
• StartID: UID of the starting ident point of the path segment
• EndID: UID of the starting ident point of the path segment
• Handle1: First curve description value related to the control point
• Handle2: Second curve description value related to the control point

Note
SIMOVE ANS+ uses for its trajectories the approach of "Bézier Curves" in the second degree,
which requires for each control point two handle curve description values.

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14.6 External Pose Interface

The "External Pose Interface" (EPI) is an optional interface between the ANS+ NC module and the
SIMOVE Carrier Control. With this telegram, the ANS+ system can use an external localization
system as source instead of its own laser-based localization source.
In the current approach, it is only possible to use either the laser-based or the EPI source for
navigation and localization purposes.

Figure 14-15 SIMOVE ANS+ interface overview

This telegram can be sent event-based or cyclic to the ANS+ NC module.

WARNING
No validation of data
In case of an activated EPI, the ANS+ system will use the data provided in the telegram without
any validation check and update its localization pose.

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To enable the external pose interface, several parameters in different files need to be
adjusted related to the external system:
• hardware: In this file, the related socket information, IP and port, is parametrized.

Figure 14-16 EPI – socket parameters in "hardware" file

• param: To enable the EPI, the enable parameter needs to be changed to "yes".

Figure 14-17 EPI – General parameters in "param" file

• user_def: f EPI pose data should be used, the parameter "Localization source" needs to be
changed to "Epi".

Figure 14-18 EPI – Localization parameters in "user_def" file

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14.7 Map origin changes

The default pose of a map’s origin is where the mapping has been started. For certain use cases,
it might be necessary to change this pose.
To visualize the current pose of the map’s origin, select the related map, instance or template
and click on to activate its visualization in the world window.

① Map origin
Figure 14-19 Map origin visualization

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The ANS+ ET provides two approaches to change the pose of a map origin:
• Drag&Drop: Click on the map origin in the world window and shift its position via Drag&Drop
or the rotate icon. Fine-tuning is possible by using the "Offset textboxes" within the properties
window.

ࡴ
ࡳ

① Map origin
② Offset properties
Figure 14-20 Map origin changed via Drag&Drop

• Element relation process: This process is used to calculate a new map origin’s position. For
this purpose, positions for two map elements are specified in relation to, for example, a CAD
layout.

WARNING
Inserted data are not validated
It is the responsibility of the commissioner to use the correct position data for the elements.
There is no validation check of the inserted data in the ANS+ ET.

1. Click on the map origin in the world window.

2. Press to start the process.
3. Click on an element in the map to specify its new position.

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4. Press "Next".

① First element
Figure 14-21 First element position adjustment

5. Click on another element for the next position definition.

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6. Press "Next" to proceed.

① Second element
Figure 14-22 Second element position adjustment

The ANS+ ET uses the given elements' position data to calculate and visualize the related pose
of the map origin.

① Visualization of related pose

Figure 14-23 Second element position adjustment

7. The calculated result needs to be confirmed to apply the new pose.

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8. Click "Save" to write the changes to the files.

9. To confirm this new setup to the ANS+ NC module, reload the atlas content, as shown
in Figure 6-25 Reload AGV atlas (Page 87).

Figure 14-24 Confirmed map origin pose update

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14.8 Laser configuration examples

14.8.1 SICK microScan3 Core/Pro

To be able to parametrize a SICK microScan3 device, the SICK software "Safety Designer" is
required. It can be downloaded from the company’s webpage.
Once the PROFINET configuration is finished and the device is commissioned, it is necessary
to configure two more pages within the "Safety Designer" tool:
• Monitoring plane
• Data output
On the page "Monitoring plane", the scan resolution, highlighted in the illustration below,
can be configured. Related to this configuration, the ANS+ parameter "Resolution" in the
section "Laser X" requires a specific value parametrization.

Figure 14-25 Safety Designer – "Monitoring plane" configuration page

Type SICK Scan cycle time ANS+ Resolution

MICS3-CBAZ40PZ1P01 Normal, 40 ms 0.385
MICS3-CBAZ50PZ1P01
MICS3-CBAZ40PZ1P01 Fast, 30 ms 0.51
MICS3-CBAZ50PZ1P01
MICS3-CBAZ90PZ1P01 Normal, 50 ms 0.1
MICS3-CBAZ90PZ1P01 Fast, 40 ms 0.125

To receive the laser measurement data at the Linux OS, the "Data output" page needs to be
configured. The port differentiates between the front (2113 – "Laser 0" section) and the back
scanner (2114 – "Laser 1 section) of an AGV.
If adjustments are made to the start/- end angles in the Safety Designer, it is necessary to
apply the values in the ET that the Safety Desinger shows in the brackets ("results XXX,X°") ,
even if "results" differs from the applied angles.

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Figure 14-26 Safety Designer microScan3 – "Data output" page

Once the scanner device has been fully commissioned and parametrized, the ANS+ laser
parameters need to be synchronized with those settings. For the mircoScan3 device, it
is required to adjust additionally the parameters "Upside Down" in case of an inverted
mounting and "Resolution" in relation to the configured "Scan Resolution".

① Parameters to change
Figure 14-27 ANS+ "user_def" – microScan3 configuration example

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14.8.2 SickTIM 781

SickTIM 781
To parametrize a Sick TIM781 device, the Sick software "Sopas Engineering Tool" is required. It
can be downloaded from the company's webpage.
Once the PROFINET configuration is finished and the device is commissioned, it is necessary
to configure two more pages within the Sopas tool:
• Data processing
• Network → Ethernet
The main settings for the scanner data are configured within the "Data processing" page,
shown in the illustration "Sopas Engineering Tool TIM781 – Data processing page".

Figure 14-28 Sopas Engineering Tool TIM781 – Data processing page

Within the "Ethernet" page, two more configurations need to be done besides the IP-settings:
the IP-Port and the Dialect. The Dialect has always to be set to "CoLa ASCII". The IP-Port can
change between applications, but the port number needs to be the same within the SICK
Tool and the ANS+ ET socket parameter.

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Figure 14-29 Sopas Engineering Tool TIM781 - Ethernet page

Once the scanner device has been fully commissioned and parametrized, the ANS+ laser
parameters need to be synchronized with those settings. For the TIM781 device, it is required
to add a specific client socket connection related to the scanner settings of the Sopas
"Ethernet" page. Additionally, several ANS+ parameters need to be added to the scanner
section.

Figure 14-30 ANS+ user_def – TIM781 configuration example

14.8.3 Sick NAV310

The NAV310 scanner uses the same engineering software as SickTIM, called "SOPAS Engineering
Tool". It can be downloaded from the company's webpage.

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Once the PROFINET configuration is finished and the device is commissioned, it is necessary
to configure two more pages within the "SOPAS Engineering Tool":
• Basic Settings
• Network → Ethernet
Within the "Basic Settings" page, it is necessary to activate the checkbox "Auto start
measure". Otherwise, the scanner will not start to generate laser data.

Figure 14-31 Sopas Engineering Tool NAV310 - Basic Settings page

All IP and port configurations can be done at the "Ethernet" page.

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Figure 14-32 Sopas Engineering Tool NAV310 - Ethernet page

Once the scanner device has been fully commissioned and parametrized, the ANS+ laser
parameters need to be synchronized with those settings. For the NAV310 device, it is
required to add a specific client socket connection related to the scanner settings of the
Sopas "Ethernet" page. Additionally, several ANS+ parameters need to be added to the
scanner section.

Figure 14-33 ANS+ ET user_def – NAV310 configuration example

14.8.4 SICK nanoScan3

To be able to parametrize a SICK nanoScan3 device, the SICK software "Safety Designer" is
required. It can be downloaded from the company's webpage.

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Once the PROFINET configuration is finished and the device is commissioned, it is necessary
to configure one more page within the "Safety Designer" tool:
• Data output
To receive the laser measurement data at the Linux OS, the "Data output" page needs to be
configured. The port differentiates between the front (2113 – "Laser 0" section) and the back
scanner (2114 – "Laser 1" section) of an AGV.
If adjustments are made to the start/- end angles in the Safety Designer, it is necessary to
apply the values in the ET that the Safety Desinger shows in the brackets ("results XXX,X") ,
even if "results" differs from the applied angles.

Figure 14-34 Safety Designer nanoScan3 – "Data output" page

For the nanoScan3 device, it is required to add specific parameters. Additionally, common
ANS+ parameters, such as "Transformation" and/or "Upside Down" need to be configured
related to the mechanical mounting of the scanner.

Figure 14-35 ANS+ ET "user_def" – nanoScan3 configuration example

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For the nanoScan3 device, the value "Frequency" needs to be adjusted in relation to the
configured laser beam resolution.

Laser resolution [deg] Frequency [Hz]

0.1 20
0.125 25
0.17 33
0.39 25
0.51 33

Note
0° beam point
The SICK miroscan3 and nanoScan3 scanners share the same 0° beam point, specified in the
technical device specification of SICK. This special point is required for the ANS+ laser
transformation estimation.

Source: https://cdn.sick.com/media/docs/6/36/136/operating_instructions_nano‐
scan3_i_o_de_im0087136.pdf
Figure 14-36 SICK mircoScan3 and nanoScan3 0°-beam point

14.8.5 Leuze RSL455P

The following software needs to be installed to commission the Leuze laser scanner. It can be
downloaded from the company's webpage.
In the following example, the software "SensorStudio" and "SafetyDeviceCollection-3.1.0.0" is
used.

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Figure 14-37 Leuze software for RSL455P commissioning

The following steps are required to receive the Leuze scanner data in SIMOVE ANS+:
1. Open PRONETA and set a temporary IP address of the Leuze laser scanner related to the AGV’s
network configuration.
2. Open the Leuze software "Sensor Studio".
3. Follow the short instruction guide from Leuze to establish an ethernet connection.
Note
Enter IP address directly
When connecting via ethernet cable, the IP address of the laser device has to be entered
directly into "Sensor Studio" communication DTM before a connection can be established.
After entering the IP address, click "Connect" to establish an online connection to the device.

Figure 14-38 Leuze software to establish a connection

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4. Specify the UDP telegram settings.

The scanner supports an angle range between 0° and 269.9° with a resolution of 0.1°. The
maximal scanner frequency can be set to 25 Hz. For this purpose, the parameter "Telegram
interval" is set to 1, which represents 25 Hz.
In order to receive laser data within SIMOVE ANS+, the data output via UDP needs to be
enabled. For this purpose, the IP address of the ANS+ NC and the expected port have to be
defined.

Figure 14-39 Leuze data telegram settings

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5. Make sure to activate the automatic restart behavior of the scanner within the configuration
tab.

Figure 14-40 Leuze configuration settings

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6. Once the scanner device has been fully commissioned and parametrized, synchronize the
ANS+ laser parameters with the scanner parameters.
For this purpose, the values for start and end angle range from 0° to +269.9° and the used
scan resolution of 0.1° are set. Variable parameters, which need to be adjusted related to the
AGV setup, are highlighted in the following illustration.

Figure 14-41 Leuze "user_def" example settings within ANS+ ET

7. Make sure to use the correct port number related to the used connection socket number
(here: Connection "Socket3", Port "2115") that you specified in the Leuze telegram settings.

Figure 14-42 Compare telegram settings within ANS+ ET

8. Save all parameter changes and restart the ANS+ NC module to apply the configuration.

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14.8.6 Pepperl&Fuchs R2000

WARNING
30-minute warm-up
The vendor P&F recommends a 30-minute warm-up time for the laser device to receive the
highest accuracy in measurement.

The P&F R2000 scanner requires the following software for parameterization and
commissioning: PACTware (Process Automation Configuration Tool) and DTM (Device Type
Manager).
A DTM is a software driver that contains all device-specific data and functions of a sensor
type and provides all graphical elements and dialogs for operation. It requires a framework
program, such as PACTware, in order to be used. It can be downloaded from the company's
webpage. In the following example, the software "PACTware DC 5.0" and "DTM for R2000
laser scanner" were used.
In order to connect to the scanner, you have to set its IP address depending on your network
topology. Afterwards, the scanner can be controlled and configured in "PACTware DC".
The following steps are required to receive the P&F R2000 scanner data in SIMOVE ANS+:
1. Adjust the laser scanner IP to your network topology, for example, by using the buttons on
the device.
2. Open the PACTware DC software.

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3. Use "Search new device" and select the "R2000 IP Comm" connection.
If the R2000 comm block is not shown, the DTM installation is missing or was not successful
and needs to be redone.

Figure 14-43 PACTware DC start procedure

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4. Set the IP address of the laser scanner.

Figure 14-44 PACTware Ethernet settings

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5. Set the following parameters within the tab "Measurement Setup".

Figure 14-45 P&F R2000 measurement setup configuration example

Depending on the used R2000 type (UHD, HD, SD), different combinations between laser
resolution and frequency are possible.

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Figure 14-46 P&F R2000 frequency to resolution combinations

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6. Once the laser configuration is done, transfer the setup to the laser device.

Figure 14-47 PACTware DC device view

7. Once the scanner device has been fully commissioned and parametrized, synchronize the
SIMOVE ANS+ laser parameters with the scanner parameters.
The scanner is able to do a full 360° scan with a maximum range of 32 meters. The valid
values for start and end angle range from -180° to +180°. Regarding the scan resolution and
frequency, 0.1° and 50 Hz are used in this example. For any other combination, refer to the
illustration "P&F R2000 frequency to resolution combinations".
The R2000 laser device requires two different communication ports, one for incoming data
and one for outgoing control commands. Add the following lines to your “user_def” file in the
ANS+ ET related to the network configuration of your AGV:

Figure 14-48 ANS+ P&F R2000 required socket parameters in “user_def”

For both sockets, use the following telegram specification:

– Data telegram: Server "<Linux IP>" <Port> Udp
– Control commands: Client "<R2000 IP>" 80 Tcp
In the following example, these IP addresses were used:
– Industrial OS IP: 172.19.82.21
– P&F R2000 IP: 172.19.82.55

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8. The general laser-specific parameters need to be defined in the "user_def" file of the ANS+ ET.
Variable parameters, which need to be adjusted in relation to the AGV setup, are highlighted.

Figure 14-49 P&F R2000 laser specific “user_def” example parameters

WARNING
Equal IDs
The ID within the section "Pepperl+Fuchs R2000 <ID>" must be equal to the used "Laser
<ID>". This relation merges the control socket with the data telegram.

9. Save all parameter changes and restart the ANS+ NC module to apply the configuration.

Note
Special Case with R2000 SD
When using the R2000 SD , the filter parameter needs to be disabled. Therefore, add the
following section to the user_def:
[Section: Pepperl+Fuchs R2000 0]
//---------------------------------------------------------------
Enable Filter : yes

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14.8.7 Keyence SZ-V32N

To be able to parametrize a Keyence SZ-V32N device, the Keyence software "SZ Configurator" is
required. It can be downloaded from the company’s webpage.
After installation, the "SZ-V Configurator" needs to be selected within the Safety Device
Configurator.

Figure 14-50 Safety Device Configurator

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The following steps are selected in the SZ-V Configurator:

1. Create a new configuration file.

Figure 14-51 Create a new file

2. Choose “SZ-V32N” and “UDP”.

Figure 14-52 Select type

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3. Connect the laser scanner via USB or Ethernet. In this documentation, a connection by
Ethernet was used. Select the used Network adapter from the list and click on "search". If all
network connections are working successfully, the device gets listed. Select the laser scanner
from the list.

Figure 14-53 Select device from list

4. Select "Operation" on the left side of the process tabs.

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5. Select the related PNP/NPN fitting to your application. This is a mandatory step of the
configuration.

Figure 14-54 Fill out safety configuration

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6. In the section "Zone", insert a safety zone, as this is also mandatory for the initial transfer of
the configuration. The safety zone can also be adapted afterwards

Figure 14-55 Create safety zone

7. Skip the selection "Others" for an initial configuration.

8. Set the network device configuration. An example configuration is shown below.

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9. To receive the laser measurement data at the Linux OS, the measurement distance data
output (UPD) has to be selected. Choose "little endian" for the UDP data.

Figure 14-56 Define communication and ethernet settings

10.Check the advanced network configuration settings for the port, that is later on required for
the ANS+ socket communication parameter.
– Default value for TCP port:8637
– Default value for UDP Command Port: 8800
11.Click on "Transfer" in order to transfer all data to the device.
12.If a login-window appears, that requires a password the default password "1111" has to be
typed in.
The configuration is transferred to the device afterwards and the configuration needs to be
accepted.
Once the scanner device has been fully commissioned and parametrized, the ANS+ laser
parameters need to be synchronized with those settings. Use the following ANS+ settings for
a working configuration in the section of your respective Laser (here in this example with the
laser IP = 172.19.65.150). In case you have changed the UDP Port (default: 8800), the port
number of the socket communication ports need to be adapted as well.

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Figure 14-57 ANS+ laser settings

Figure 14-58 ANS+ laser settings

Example configuration
[Section: Socket Communication Ports]
//----------------------------------------------------------------------------
Socket4 : Client "172.19.65.150" 8800 Udp // [Client "<IP>" <PORT> Udp] - Keyence
network settings

[Section: Laser 0]
//----------------------------------------------------------------------------
Enable : yes // [yes, no]
Name : "Keyence_SZ-V32N" // ["string"] - Internal name for laser scanner
device shown e. g. on status messages
Connection : Socket4 // [SocketX] - Keyence SZ-V32N measurement data socket
connection
Laser Type : KeyenceSZV // Scanner driver type
Transformation : 0.0 0.0 0.0 0 0.0 0.0 // [cm (X), cm (Y), cm(Z), deg(Yaw), deg(Pitch),
deg(Roll)]
Start Angle : -5.2 // [deg] - Laser beam start angle
End Angle : 185.2 // [deg] - Laser beam end angle
Resolution : 0.2 // [deg] - Laser beam angular resolution
Frequency : 0 // [Hz] (Default: 0) - 0 = Choose maximum frequency

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15.1 Diagnostic Packages
This chapter describes how to generate and download a diagnostic package for support or
debug purposes. A diagnostic package contains the NC module log, as well as the applied
parameter settings and the recently captured traces of the raw data of all laser scanners,
cameras and odometry. Therefore, it should be provided when submitting a Siemens Support
Request, as described in chapter Siemens Support Requests (Page 261). With the provided data,
previously occurred errors regarding parametrization or failures related to driving behaviors and
commanded jobs can be analyzed and reproduced in a simulation afterwards to determine the
cause of an issue. Additionally, a screen recording of the behavior with some explanation is
beneficial for the analysis.
A diagnostic package can be generated in the “Status” page in the diagnostic package
window as described in the following step-by-step instruction:
1. Click on "Generate new diagnostic package".
All generated diagnostic packages are listed underneath the toolbar.
2. Select the checkbox of one or more available diagnostic packages and click on "Download
selected files to local computer".
Once the download is completed a success notification appears at the lower right corner of
the ET and if the browser shows an insecure download blocked pop-up, continue by clicking
"keep".

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ੀ ੁ ੂ

① Generate new diagnostic package

② Download selected files to local computer
③ Delete selected files from disk
④ Available diagnostic packages
Figure 15-1 Diagnostic package window

Note
The maximum number of available diagnostic packages that are being stored is limited to ten.
Exceeding this limitation will automatically overwrite the last stored diagnostic package with
the newly generated one.

It is additionally possible to generate a diagnostic package with an external trigger through

Carrier Control. Therefore, the ANS MT Host Block provides a generateDiagnosticPackage
input that is used to generate a new diagnostic package. The diagnosticInfo input consists of
two char arrays that allow to assign a Trigger source and Generate reason, as shown in the
figure below.

Figure 15-2 Carrier Control generated diagnostic package

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15.2 Siemens Support Requests

15.2 Siemens Support Requests

For general questions related to ANS+, parameters or for bug reports, a Siemens "Support
request" (SR) needs to be created to contact the related experts.
The following process provides a step-by-step guidance on how to create a SR:
1. Use the following link to access the Siemens Industry Online Support webpage and login to
your account.
Siemens Industry Online Support webpage (https://support.industry.siemens.com/cs/my/
src?_nct=20210517154928&lc=en-DE)
2. Create a new Support Request.
3. Use the label "simove" to find SIMOVE related topics, such as SIMOVE ANS+:

Figure 15-3 Service Request product search

4. Select the SIMOVE product that relates to the SR.

5. Click on "Next".

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6. In the next screen, provide a detailed description of your request.

If possible, upload files for a better explanation, such as record files with all related files as
described in chapter Diagnostic Packages (Page 259).

Figure 15-4 Service Request description and file upload

7. Click on "Next".

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8. Select "Request by a customer" and enter all necessary information.

Figure 15-5 Service Request check and submit

9. Click on "Send" to submit the Service Request.

Note
Service requests are generally answered within several days.

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Appendix A
A.1 Issue reference list
Each issue and the related reaction can be redefined within the "param"-section "status" with two
different parameters:
• "Redefine Reactions": This redefinition is only used for ANS+ internal and therefore only
relevant for log files and the command line logging.
• "Redefine Times": By using the time redefinition, the related issue status (error or warning)
of ANS+ that is transferred to the PLC can be changed.
There are three relevant internal reactions for ANS+.

Parameter value Description

<Component>_<Issue> None The occurred issue is suppressed within ANS+ and
is therefore not transferred to the PLC.
<Component>_<Issue> Report Each issue redefined as "Report" is listed in ANS+ as
a user information.
<Component>_<Issue> Warn "Warn" issues will be interpreted as a warning in
ANS+.

By using the parameter "Redefine Times", it is possible to change the issue transfer
interpretation for the PLC:

Parameter value Description

<Component>_<Issue> 0 0 0 The related issue is transferred to PLC as a warning.
Represents the corresponding issue message num‐
ber within the "host"-interface warning array in the
PLC program.
<Component>_<Issue> 0 0 -1 The related issue message number is transferred to
PLC as an error within the "host"-interface error ar‐
ray.

Figure A-1 Examples for ANS+ issue redefinition

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A.1 Issue reference list

The table below provides an overview of ANS+ issues with their related message number:

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Init Parameter Error 21 Error Error in reading one of the • Fix parametrization error.
following files:
• "hardware"
• "param"
• "user_def"
Init Critical Error 22 Error Startup initialization error, • Check the startup log
e.g. due to invalid parame‐ • Check the parametriza‐
ter detected
tion
Init Startup Failure 24 Error Error in one initialization • Check the startup log
stage • Check the parametriza‐
tion
ParameterFile Critical Error 71 Error Error in reading one of the • Fix parametrization error
following files:
• "hardware"
• "param"
• "user_def"
Modules Kin Assertion B2 Error Velocity command in y-di‐ • Check the kinematic
rection but non-holonomic “user_def” parametriza‐
kinematics tion
Record Invalid Command D5 Warn Invalid MMI command ap‐ • check applied MMI com‐
plied mand
Record File Write Error D6 Warn Writing of sensor stream in‐ • Check disk space or writ‐
formation into file failed. ing permissions.
Record File Open Error D7 Warn Unable to open file for writ‐ • Check writing permis‐
ing sensor stream informa‐ sions.
tion.
Replay Table Overflow E1 Warn Replay capacity reached • Reduce replay registra‐
tions in replay section
Laser Covered F1 Error Covered ratio laser beams • Check parameter "Cov‐
are less than parameterized ered Dist" and "Covered
covered distance Ratio"
Laser Checksum Error F2 Warn Laser implementation spe‐ • Connect with engineer‐
cific status information. ing software provided by
laser vendor and check
for laser errors.
Laser No Connection F3 Error Unable to establish connec‐ • Check cable or connec‐
tion with laser. tion settings.
Laser Warning F4 Warn Laser implementation spe‐ • Connect with engineer‐
cific status information. ing software provided by
laser vendor and check
for laser errors.

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266 System Manual, 2.1.0
 Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Laser Scanner Error F5 Warn General error from laser • Connect with engineer‐
vendor. ing software provided by
laser vendor and check
for laser errors.
Laser Scanner Fatal Error F6 Warn Laser implementation spe‐ • Connect with engineer‐
cific status information. ing software provided by
laser vendor and check
for laser errors.
Laser Wrong Prot Field F8 Warn Laser implementation spe‐ • Connect with engineer‐
cific status information. ing software provided by
laser vendor and check
for laser errors.
Laser Wrong Version F9 Error Laser implementation spe‐ • Change the parameters in
cific status information. La‐ hardware file according to
ser configuration does not laser configuration.
match the parameters in
• Change the laser configu‐
hardware file (start angle,
end angle, resolution). ration according to pa‐
rameters set in hardware
file using the ET of laser
vendor.
Laser Wrong Warn Field FA Warn Laser implementation spe‐ • Connect with engineer‐
cific status information. ing software provided by
laser vendor and check
for laser errors.
Laser Polluted FB Warn Laser implementation spe‐ • Connect with engineer‐
cific status information. ing software provided by
laser vendor and check
for laser errors.
Laser Contamination FC Warn Contamination warning • Check the optics cover for
Warn from laser device. damage.
• Clean the optics cover.
Laser Contamination Er‐ FD Warn Contamination error from • Optics cover is dirty. All
ror laser device. safety outputs in the OFF
state. Clean the optics
cover.
Laser Receive Overflow FE Error The laser driver workspace • The laser driver is not able
buffer size limit for reading to build valid datagrams.
laser datagrams was In most cases during run‐
reached. The laser driver time this error comes
was not able to build valid from a network traffic
datagrams for the data re‐
overload. Check your net‐
ceived so far. After this error
work configuration to
is produced the workspace
buffer is cleared. avoid this error.

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System Manual, 2.1.0 267
Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Laser No Measurements FF Error No measurements retrieved • For UDP connections, this
despite of an established is an indicator that the
connection between ANS+ connection parameters
and laser. are invalid. Check the con‐
nection and laser settings
in the ANS+ ET.
• Laser device might use a
protocol that is not yet
supported. Check if laser
hardware version is com‐
patible or if protocol of la‐
ser datagrams was
changed by vendor.
• The laser-specific configu‐
ration in the vendor tool
has been set not correct‐
ly. Recheck all laser con‐
figurations.
Laser Datagram Error 100 Warn Unable to retrieve laser data • Laser hardware might use
from received datagram. a protocol that is not yet
supported. Check if laser
hardware version is com‐
patible or if protocol of la‐
ser datagrams was
changed by vendor.
Laser2 Recv Time Ambigu‐ 101 Warn • Time assignment of giv‐ • Can be ignored in case of
ous en (SIMOVE: TCP) tele‐ startup or sporadic occur‐
gram is ambiguous (for rence, as this is just an in‐
example on Linux start‐ formation for users.
up). • In case of static occur‐
• ANS+ threads are too rence, check, for exam‐
busy or have too little ple, the network work‐
compositional CPU or load.
RAM memory.
Hostif No Connection 2721 Error • No TCP-Connection es‐ • Check connection status
tablished between PLC via PING.
and Linux ("host"-inter‐ • Check IP addresses of Li‐
face). nux and PLC.
• Connection is broken. • Check LAN-cables.
Hostif Buffer Overflow 2722 Error • Related to "Buffer Size • Check if the "host"-inter‐
Limit" param. face protocol version
• Internal buffer limit ex‐ number is equal to the
ceeded. PLC configurations.
Hostif No Ack Received 2723 Error Too many connection re‐ • Check the software logic
tries without receiving ac‐ within the CC for acknowl‐
knowledge. edge handling.

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268 System Manual, 2.1.0
 Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Hostif Receive Overflow 2724 Error • No payload size given • Check the transferred TCP
within TCP telegram. telegram size and colloca‐
• Input buffer too small tion within PLC.
for given TCP telegram.
Hostif Recv Time Ambigu‐ 2725 Warn • Time assignment of giv‐ • Can be ignored in case of
ous en (SIMOVE: TCP) tele‐ startup or sporadic occur‐
gram is ambiguous, for rence, as this is just infor‐
example, on Linux start‐ mation for users.
up. • In case of static occur‐
• ANS+ threads are too rence, check, for exam‐
busy or having too little ple, the network work‐
compositional CPU or load.
RAM memory.
Vehicle No Connection 2741 Error • No UDP connection es‐ • Check connection status
tablished between PLC via PING.
and Linux ("vehicle inter‐ • Check IP-Addresses of Li‐
face"). nux and PLC.
• Connection is broken. • Check LAN cables.
Vehicle Receive Overflow 2742 Error • No payload size given • Check the transferred
within UDP telegram. UDP telegram size and
• Input buffer too small collocation within PLC.
for given UDP telegram.
Vehicle Time Negative 2743 Error • incoming vehicle-inter‐ • Check incoming time‐
face timestamp is older stamps on PLC side
than previous one
Vehicle Time Too Old 2744 Error • UDP connection broken • Can be ignored after start‐
and re-established. up due to legacy data
• ANS+ threads blocked within buffer.
due to high OS RAM or • Check OS RAM and CPU
CPU usage. workload.
• UDP timestamps have • Check PLC timestamps or
been sent with time incoming UDP data rate.
gaps.
Vehicle Toggle Auto Mode 2745 Error Signals redefined in param • Toggle automatic mode
with reaction "Stop" require on the AGV to manual,
automatic mode toggling and back to automatic.
after failure is faded.
Vehicle Final Stop 2746 Error • A signal occurred that • Restart the AGV.
has been redefined in • Restart the ANS+ nav_ctrl
param with reaction "Fi‐ module manually.
nalStop".
• Redefine related signal
• This error will be pro‐ only in case of debugged
duced as additional in‐ failure handling.
formation for user.

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System Manual, 2.1.0 269
Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Vehicle Slow Down 2747 Warn A signal occurred that has • Redefine related signal
been redefined in param only in case of debugged
with reaction "ZeroSpeed". failure handling.
Vehicle No Auto Mode 2748 Error ANS+ receives no automatic • Activate automatic mode
mode from PLC via "vehicle" on the AGV
interface (UDP telegram).
• Check if the automatic
Automatic mode is required
mode is transferred to the
for autonomous navigation.
ANS+ system in the cor‐
rect way.
Vehicle Odometry Jump 2749 Warn • Related to params "Od‐ • Check the calculated and
ometry Jump Distance" transferred odometry
and "Odometry Jump within PLC.
Angle". To reach the highest accu‐
• The distance between racy, no jumps in odome‐
last and new pose of try should be calculated.
UDP telegram exceeds
the defined limit of "Od‐
ometry Jump Distance".
• The angular between
last and new pose of
UDP telegram exceeds
the defined limit of "Od‐
ometry Jump Angle".
Vehicle Recv Time Ambigu‐ 274A Warn • Time assignment of giv‐ • Can be ignored in case of
ous en (in SIMOVE: UDP) startup or sporadic occur‐
telegram is ambiguous, rence, as this is just infor‐
such as on Linux startup. mation for users.
• ANS+ threads are too • In case of static occur‐
busy or having too little rence, check, for exam‐
compositional CPU or ple, the network work‐
RAM memory. load.
Pilot Slow Down 2761 Warn Will be activated if the man‐ • Deactivate this mode by
ual control device (PS4) but‐ pressing "∆" on the man‐
ton is pressed ("X"). ual control device (PS4).
Pilot Goal MissedX 2762 Warn Goal within the specified tar‐ • Check engineered layout,
get radius around the ident especially the ident point
point could not be reached. position
X-offset is greater than • Check localization accura‐
specified. cy within the map
• Check motion parameter
and evaluate if the vehi‐
cle is physically able to fol‐
low the path and reach
the goal with its tolerance

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270 System Manual, 2.1.0
 Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Pilot Goal MissedY 2763 Warn Goal within the specified tar‐ • Check engineered layout,
get radius around the ident especially the ident point
point could not be reached. position
Y-offset is greater than • Check localization accura‐
specified. cy within the map
• Check motion parameter
and evaluate if the vehi‐
cle is physically able to fol‐
low the path and reach
the goal with its tolerance
Pilot Goal MissedA 2764 Warn Goal within the specified tar‐ • Check engineered layout,
get radius around the ident especially the ident point
point could not be reached. position
A-offset is greater than • Check localization accura‐
specified. cy within the map
• Check motion parameter
and evaluate if the vehi‐
cle is physically able to fol‐
low the path and reach
the goal with its tolerance
Pilot Critical Error 2765 Error Collective error that indi‐ • Create a SIOS support re‐
cates that an order cannot quest with all needed da‐
be fulfilled. ta (atlas, resource data,
E.g., related to insufficient record file, description)
parametrization.
RouteMap Route Descr Failure 2771 Error Route map descriptors have • Check user rights of ANS+
not successfully been star‐ nav_ctrl module on the Li‐
ted at ANS+ startup. nux OS.
RouteMap Internal Error 2772 Error Subsequent failure • Check the "Status" page
(Page 49) to see other
outstanding failures.
RouteMap Job Failed 2773 Error Transferred order cannot be • Check engineered layout,
interpreted. especially the ident
points and their related
IDs.
• Check the transferred or‐
der starting and ending
ident point.

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System Manual, 2.1.0 271
Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
RouteMap Job Validation 2775 Error Sent route within order can‐ • Check engineered layout,
not be found. especially the ident
points and their following
ident points.
• Check if inverse route in‐
terpretation is activated.
• Check the commanded
order
• Check if matching ident
points exist on all connec‐
ted path elements
RouteMap Deserialize Error 2777 Error Wrong format of a "host" in‐ • Check the transferred TCP
terface telegram (TCP), for telegram size and colloca‐
example, instead of "AUFT", tion within PLC.
something else is sent.
RouteMap Pilot Error 2778 Error Error in pilot controller, e. g. • Check target pose accura‐
target pose could not be cy (via Logging)
reached
RouteMap Point Gap Detected 2779 Warn An ident point added to the • Adjust the path layout
pilot is not equal to the path within the ANS+ ET if it is
designer action point. The detected on a critical po‐
path designer position and sition.
route path position are sup‐
posed to be equal.
RouteMap State Cancelling 277D Warn Phase between internal • Status information only
state Cancel and Stop
Loc Lost 2791 Error Localization uncertainty • Check the detected fea‐
reached a too high value. tures on the occurred po‐
sition.
• Create more features
around the occurred posi‐
tion.
• As a backup, increase the
allowed uncertainty.
Loc Load Map Failed 2792 Error Failed to load or open a file • Check the "atlas" directo‐
within "atlas" directory. ry, for example, ensure
that a map really exists as
a file.
Loc Localization Gap 2794 Warn Too high distance in locali‐ • Check the engineered lay‐
zation updates detected. out within ANS+ ET.
• Check the detected fea‐
tures on the detected po‐
sition.

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272 System Manual, 2.1.0
 Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Loc Initial Pose 2795 Error Initialization of ANS+ pose • Check the network set‐
was not successful. tings of all related devi‐
Map does not exist for initial ces.
pose. • Check if all ANS+ modules
are running without any
error.
• Check the "atlas"-directo‐
ry.
Loc Station Detected 2797 Warn • Information for the user • This user information can
that at least one station be ignored.
match was found.
• Start station evaluation.
Loc Unknown Tf 2798 Error • Transition without • Update atlas.
cache, update failed. • Check if pose transition is
• Selected pose transition available in map.
is not possible as its not
available in the atlas.
Loc Mapping Error 2799 Warn • Map optimization failed. • Check if localization mod‐
• Localization deactiva‐ ule is enabled.
ted. • Check if mapping process
• Unable to save / restore was successfully started.
factor graph backup.
• No map available.
ET No Connection 27A1 Warn Connection to the ANS+ ET • Check the network set‐
cannot be established. tings of all related devi‐
ces.
• Check if all ANS+ modules
are running without any
error.
ET Receive Overflow 27A2 Error No payload size given with‐ • Check the transferred TCP
in TCP telegram. telegram size and colloca‐
Input buffer too small for tion within PLC.
given TCP telegram.
ET Recv Time Ambigu‐ 27A3 Warn Time assignment of given • Can be ignored in case of
ous (SIMOVE: TCP) telegram is startup or sporadic occur‐
ambiguous (for example on rence, as this is just an in‐
Linux startup). formation for users.
ANS+ threads are too busy • In case of static occur‐
or having too little composi‐
rence, check, for exam‐
tional CPU or RAM memory.
ple, the network work‐
load.

ANS+
System Manual, 2.1.0 273
Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
MQTT No Connection 27B1 Warn Unable to establish connec‐ • Check network configura‐
tion to MQTT Broker tion (Ping)
• Check MQTT connection
parameters
LocIf No Connection 27C1 Warn Connection to the external • Check the network set‐
localization source cannot tings of all related devi‐
be established. ces.
LocIf Receive Overflow 27C2 Warn • No payload size given • Check the transferred
within UDP telegram. UDP telegram size and
• Input buffer too small collocation.
for given UDP telegram.
LocIf Unknown Tf 27C3 Error • Inactive or incorrectly • Check parameter "Global
configured parameter Frame Id" within
"Global Frame Id". "user_def".
• Given map name not • Check sent map name
transformable to para‐ with "External pose inter‐
metrized "Global Frame face" (EPI).
Id".
Odo Extrapolate Too 27D1 Error Odometry data is received • Check the data synchroni‐
Old that is older than the cur‐ zation in case of activated
rent extrapolation memory. extrapolation.
• Deactivate odometry ex‐
trapolation.
Odo Add Queue Over‐ 27D2 Error Received odometry data • Check the data synchroni‐
flow cannot be associated to the zation in case of activated
latest extrapolation memo‐ extrapolation.
ry, as values rely to time‐
• Deactivate odometry ex‐
stamps in the future.
trapolation.

ANS+
274 System Manual, 2.1.0
 Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
OdoLaser No Scans 27E1 Error No measurements retrieved • For UDP connections, this
despite of an established is an indicator that con‐
connection between ANS+ nection parameters are
and the laser device. invalid. Check the connec‐
tion and laser settings in
the ANS+ ET.
• Laser device might use a
protocol that is not yet
supported. Check if laser
hardware version is com‐
patible or if protocol of la‐
ser datagrams was
changed by vendor.
• The laser-specific configu‐
ration in the vendor tool
has been set not correct‐
ly. Recheck all laser con‐
figurations.
OdoLaser Filtered Threshold 27E2 Warn • Ratio between filtered • Ensure that laser is not
out laser beams to origi‐ covered.
nal beams is greater • Wheel odometry is cur‐
than specified parame‐ rently used for relative dis‐
ter filtered ratio. placement.
• Forcing the use of laser
odometry can be done by
increasing the ‘Filtered Ra‐
tio’ parameter.
Job Id Mismatch 2801 Error • Last ident point of previ‐ • Check and correct drive
ously sent order does order.
not match first ident • Only produced if ‘Verify
point of current order. Order’ is enabled.
• IDs of consecutive or‐
ders are not matching.
Job Double Order 2802 Error Two following orders are • Sent drive order only
equal. once.
• Only produced if ‘Verify
Order’ is enabled.
Job Subroute Equal Id 2803 Error Start and end point IDs of • Drive order is not suppor‐
sent order are equal. ted, give a corrected drive
order.
• Verification cannot be dis‐
abled.
Job Missed Goal 2804 Error Initial pose of vehicle is be‐ • Check current vehicle
hind end position of first job pose and drive order
order segment.

ANS+
System Manual, 2.1.0 275
Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Job Position Gap 2805 Error • Distance between set • Place vehicle on the speci‐
first job position and cur‐ fied ident point as set in
rent (initial) vehicle po‐ the Host Interface / ET.
sition is larger than cur‐
rently used parameter
"Max Pose Unc".
• Start pose is too far from
expected position.
Job Orientation Gap 2806 Error • Distance between set • Set vehicle orientation as
first job orientation and specified in the Host Inter‐
current (initial) vehicle face / ET.
orientation is larger
than currently used pa‐
rameter "Max Rot Unc".
• Start orientation is too
far from expected posi‐
tion.
LaserCal Process Failure 2811 Error Unexpected drive com‐ • Check that the master
mand sent during the cali‐ control or any user does
bration process. not send commands to
AGV during calibration.
• Check that the Carrier
Control system was able
to reach the commanded
VTS target
LaserCal Calib Failure 2812 Error Unsuccessful optimization • Check the laser commis‐
of the laser transformation sioning and ensure the
parameters during the auto‐ features are visible to the
mated calibration. laser.
• Ensure that features are
detected correctly during
mapping.
• Check the calibration set‐
up (ensure distance be‐
tween features is roughly
as specified).
• Check if the parametrized
timeout has been excee‐
ded.
Reset-LocPose Write Access 2821 Warn Unable to write data to • Check the rights of the "…/
"…/resource/locpose" resource” directory for
or the user, which starts the
runtime module.
"…/resource/
locposeSty"
file.

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276 System Manual, 2.1.0
 Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
Reset-LocPose Init Failure 2822 Error Unable to read data Delete the following localiza‐
from "…/resource/ tion files and restart the NC
locpose" module:
or • “…/resource/
"…/resource/ locpose”
locposeSty" file. • “…/resource/
locposeSty”
AssetLoc No Localization 2831 Warn Localization is not active • Use the ANS+ ET "set-
Pose" function to initialize
the localization inside a
map
Motion Init Error 2841 Error Initialization error during • Check the command line
startup for module “Motion” for detailed information
• Check the parametriza‐
tion of the “user_def” file
Motion Behavior Tree Error 2842 Error Behavior tree configuration Check the behavior tree pa‐
invalidates process rameters
Motion Order Error 2843 Error Unable to find collision-free Check if path is feasible, vehi‐
path for applied order con‐ cle start and goal pose are
trol point collision free, zone do not in‐
validate a path
Motion Planning Error 2846 Error Unable to find collision-free Check if path is feasible, vehi‐
path cle start and goal pose are
collision free, zone do not in‐
validate a path
Motion No Trajectory 2847 Error Unable to follow path Check for collision free or fea‐
Found sible path
Motion Disabled 2848 Error A motion command has • Check the parametriza‐
been sent to the runtime, tion of the “user_def” file
but the module “Motion” underneath the section
has been disabled “Motion AGV”
Diag Package Dir Locked 2858 Warn Status information that Warning disappears automat‐
package directory is locked. ically once the lockage isn’t
During lockage no diagnos‐ needed anymore, e. g. for
tic data is recorded. ANS+ ET diagnostic package
generation.
Voa Runtime Error 2861 Error Visual obstacle avoidance • Check the command line
(VOA) exception detected. logs for detailed informa‐
tion.
VoaSensor Initialization 2871 Error Visual obstacle avoidance Wait until the camera startup
(VOA) sensor in initializa‐ is done, approximately 10
tion phase seconds.

ANS+
System Manual, 2.1.0 277
Appendix
A.1 Issue reference list

Component Status Issue Message Default Reason Solution

Name Name number Issue
(HEX)
VoaSensor Parameter Error 2872 Error One or more parameters set • Check parameters in both
in user_def files.
or yaml file are invalid or out • Check the command line
of range logs for detailed informa‐
tion. (Most often a param‐
eter is below zero that
must be positive).
VoaSensor Disconnected 2873 The respective camera was • Check your cable.
not found by the software. • Is the serial number set in
user_def correct?
• Check if the camera is
found by the operating
system by connecting to
the IPC via SSH and type
the command “lsusb”.
VoaSensor No Frames 2874 The camera did not start • Usually occurs if your
successfully and thus no camera is not mounted as
frames reach the Visual ob‐ a USB 3.0 device.
stacle avoidance (VOA)
• Ensure a USB 3.0 cable is
module.
used and your cameras is
connected to a USB 3.0.
Remove and reconnect
your cable. Restart ANS+.
• If you are using an Open
Controller 2, ensure your
operating system is Indus‐
trial OS 3.2 or newer and
your camera is connected
to an USB 3.0 port.
VoaSensor Time Too Old 2875 The system does not reach • Can be ignored and ac‐
the default knowledged if only occur‐
cycle time of 90 ms. ring once at startup.
• Else, check the total load
on your IPC.

ANS+
278 System Manual, 2.1.0
 Appendix
A.2 Changelog ANS+ NC module

A.2 Changelog ANS+ NC module

Version Date Changes

2.1.0 26.04.2024 New features:
• Integrated new feature “Diagnostic Package”
• Integrated new feature “Visual Obstacle Avoidance” (VOA)
• Improved Motion path tracking
• Ident points are now sent as “reached” without any running order
• Motion startup failures are now visualized within ANS+ ET
• Changed Motion rotation parameter units from rad to deg
• Enabled backwards free path planning via ANS+ ET
• New laser scanner device integrated: KEYENCE SZ-V32N
• Laser scanner Pepperl&Fuchs R2000 SD type is now compatible
• Target mode “HalfCircle”/”Circle” is now dyn. Adjustable
• After order cancelation on an edge (B > C), a new order (B > A) is now
accepted
• Added more precise debug information for initial pose
• Parameters “Valid Angle Min/Max” are now related to laser coordinate
frame
• Feature “Collision Check” is now configurable via host-interface
• Per default, all laser devices (ID 0,1,2,3) are now used for localization
tasks. Following Motion logic by overwriting the parametrization with a
specific laser ID, only this device is used for localization
• Parameter “funnel width” is now automatically calculated
Bug fixes:
• Fixed “Restore Loc Pose” feature
• Target position is now set to 0,0,0 after order cancelation
• Fixed trajectory preview
• Fixed convex outline computation
• Fixed virtual path handling for ongoing orders
• Fixed bug with “Maximum Speed” in Motion on 2nd edge

ANS+
System Manual, 2.1.0 279
Appendix
A.2 Changelog ANS+ NC module

Version Date Changes

2.0.0 16.06.2023 New features:
• Containerized approach
• Free path planning based on required gridmap
• Obstacle avoidance on free planned paths and virtual tracks based on
alternative pre-defined trajectories
• Edge handling
• Performance optimization for mapping process
• Zone handling
• Corner features are now providing the free space angle
• Host-Interface adjusted for new V2.0.0 features
• Optimized setPose via ET
• Localization initialization via Host-Interface is now done with minimal un‐
certainty
• Host-Interface specification extended for motion parametrization (proto‐
col V2)
• Change tangential edge orientation angle interpretation
• "Standstill" evaluation based on vehicle-interface flag information
Bug fixes:
• Default build map name set to “tmpMap”
• Fixed typo “Mecanum”
• Failure message for tangential edge orientation integrated, if parame‐
trized kinematic does not support this feature
1.7.1 30.11.2022 Bug fixes:
• Lost order when follow-up order is applied just when previous order is done
• P&F R2000 0.014° resolution compatibility
• Loc score drop between orders
• Clear measurement features before localization update
Support of Debian 11
AGV calibration added via MMI commands
- Bounding box integrated to consider relevant map features only
1.7.0 30.11.2021 Mapping improved including …
• … manual loop closure
• … extend map feature
• … map optimization during mapping
• … feature and graph information improved
Automatic laser calibration integrated
"External pose interface" (EPI) integrated to adapt 3rd party localization sys‐
tems
Export path layout added
In case of a cancelled order ident points are send until AGV stops and order is
finished
Clear cached AGV localization pose by command “loc reset”
Optional job order validation added

ANS+
280 System Manual, 2.1.0
 Appendix
A.2 Changelog ANS+ NC module

Version Date Changes

Host-Interface orientation parameter added to distinguish between vector
and global incoming orientation
Fixed path indices for connector points
Odometry stop detection added
Laser odometry error handling updated
Laser odometry filter ratio parameter added
Laser odometry global orientation added
Fix laser odometry reading minimum distance parameter
Fix laser odometry wrong motion when laser covered
Fix error messages in case of file open
Support of Ubuntu 20.04
Support of Debian 10
1.6.2 12.11.2021 Fix loc score memory leak
Fix basic feature memory leak
1.6.1 15.01.2021 Laser odometry bug fixes
1.6.0 16.12.2020 PLC 1200er compatibility
New Feature: “LaserOdometry” for rough environments
Cylinder feature can now be handled in a range of diameters. New parameters
therefore added “Min Diameter” and “Max Diameter”
Automatic detection of flat or circular reflector features
Error handling for multiple lasers fixed
Laser data loss of 25% fixed
Update for cycle time of localization thread
Improvement of line segmentation (with focus on line endings)
Dynamic target distance for position controller added
Enabled continuous switch between holonomic and non-holonomic motion
behavior
1.4.0 30.10.2020 Permanent localization added
Start localization via host interface with
• Ident point ID + Orientation
• Full valid pose (X, Y, Beta and map name)
Rotation allowed feature applicable for holonomic drives
Target radius mode added to minimize effect of target gab when approaching
from opposite directions
• Circle (Default)
• HalfCircle
Send AUST AB for internal errors in route management during driving
Apply acknowledge when AUFT AB received to remove all status issues
1.3.3 05.08.2020 Added AGV to AGV calibration
New feature type added: Corners
Ident point action default parameters changed
Support unique map transitions only
Export track layout to file in atlas folder

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Appendix
A.2 Changelog ANS+ NC module

Version Date Changes

Send data via host, ET and vehicle w.r.t. a parametrized global frame identifier
Parameter “Global Frame Id”
1.3.2 27.03.2020 Fix: Bug fixed for paths with more than 5 control points
1.3.1 06.03.2020 Derive direction information based on minimum orientation change between
most previous stored pose when localization was running and start pose of
new route segment
Send WO at start of AUFT, even when first point is not sent to host
Cache each ident point pose, independently whether pose is sent to host or not
1.3.0 28.02.2020 Continue after power-up
Multi link fix
Host interface update, supported versions:
• AUFT V1, V2
• AUST V1, V2
Vehicle interface version added to support interface with/without vda5050
information
Vehicle interface telegram data size changed from 64 to 128 Bytes
• payload size 93 Byte
SickTIM571, SickTIM56x renamed into SickTIMXXX
Scanner support Sick Tim 781 (safety scanner)
Individual target radius specified at ident point action with CSV string 'tr=X_cm'
Support path symbolic links
Support paths with arbitrary moving directions: fwd, bwd, angle X, ...

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A.3 Changelog ANS+ Engineering Tool

A.3 Changelog ANS+ Engineering Tool

Version Date Changes

1.6.0 26.04.2024 New features:
• Diagnostic package UI feature
• Adjusted device visualization panel for Visual Obstacle Avoidance (VOA)
• Free path planning in backwards direction
• New UI approach for adding control points to a path
• By adding new control points the ident points stick to their position
• Using multi-selection on junctions, the ident points stick to their position
• Using multi-selection only for edges or ident points, specific commands
can be configured for the entire selection
• “Snap” function is now additionally working for linked station maps
• Added edge command “Target Mode” for dyn. “HalfCircle” or “Circle” con‐
figuration
• Added edge command “Maximum Speed” for Motion feature
• New configurations are now auto. overtaken for overlapping ident points
• Grid size auto. adjusts its size related to zooming
• Integrated copy path feature
Bug fixes:
• Removed “Goal Approach Length” as edge command
• Fixed visual issue with feature map during gridmap editing
• Fixed feature “Align control points”
• Fixed gridmap erasing
• Fixed outline visualization in case of 0.0 values
• Parameter page search is again valid after switching the page

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A.3 Changelog ANS+ Engineering Tool

Version Date Changes

1.5.0 16.06.2023 New features:
• Containerized approach
• Manual command for free path planning
• Path layout edge handling
• Support of all new V2.0.0 AGV related live-data
• Zone engineering
• Gridmap engineering
• New parameter page UI style including search bar
• New visualization for new corner features
• Path straighten feature for control points integrated
• Map element search
• Set point visualization within device tree
• Updated style of the device list
• Map renaming
Bug fixes:
• Performance increased for mapping processes of large environments
• Increased “Undo”-Performance
• AGV live-data is now based only on ANS+ NC localization data
• Parameter page keeps the view when changing the editor
• Map and path lists are now sorted alphabetical
• Mutli-selection dialog disappears in case of DEL button
• “Offset Beta” renamed into “Offset A”
• Several fixes done for Firefox browser compatibility
1.4.0 30.11.2022 New features:
• Performance increased for large environments
• Added ANS+ NC version and commitId information to “Status” page
• Debian 11 compatibility
• Reworked “Save” approach
• X and Y position visualization of the cursor on the grid
• Path hovering
• Measurement tool integrated
• Removed “ans_proto_nav” and “system” directory
• Added new UI data polling parameter
Bug fixes:
• „Failed to load umbrella“ … failure
• Data loss in case of path merging
• Alphabetic sorting of map list elements
• “Parameter” page text editor performance fixed
• Minor fixes

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A.3 Changelog ANS+ Engineering Tool

Version Date Changes

1.3.0 30.11.2021 New features:
• Multi-selection
• ANS+ NC AGV shape visualization
• Map origin change
• Station templates & instances
• Added device visualization configuration panel
• "Status" page for visualization of outstanding ANS+ NC failures, acknowl‐
edge, cancel and shutdown
• User login with three pre-defined users
• Ident and control point positions are now transformable to linked map
origins
• LocScore is added to the "Workspace" page
• EPI, Laser and wheel odometry data are able to visualize independently
Updated features:
• Reworked the zoom handling. Selected elements are staying centered
• Restructured the "Workspace" page UI related to the "device visualization
configuration panel"
• Updated laser colors
• Map and path changes are only written to the file system in case of "Save"
• New icons for deployment page
• Parameter sections are now activating scrolling once reaching the upper
or lower window’s border
• Corner features are now editable and shiftable
• Reworked the ident point command engineering. Ident points with com‐
mands are highlighted in the world window
• Reworked the link engineering for an easier approach. Links now relate
between two map origins only
• Reworked the style of the ANS+ ET version information
• "localhost" device is now listed per default within "Favorite device"
• Hovering of map elements improved
• Improved style for tree navigation selection
Bug fixes:
• After committing it occurred, that "device.json" file within "dataspace" di‐
rectory was corrupted
• ET now synchronizes the connection state with NC to visualize a broken
connection
• "Fit map" function considers all map elements for centering
• Issue fixed at which a map is visualized without existing
• Ident points in linked maps are now correctly calculated
• Map transparencies are now correctly visualized

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A.3 Changelog ANS+ Engineering Tool

Version Date Changes

1.2.1 16.12.2020 Path usability increased. While holding <CTRL>:
• a control point is set on the position of another control point in case of
close distance between each other.
• an ident point applies the position, UID and description of another ident
point in case of a close distance between each other.
A control point has a new specific function to create an ident point directly on
their position
Adjusted layer visualization:
• Laser beams are now shown below paths to enable path selection.
• In case of control point selections, all control points belonging to the same
path are now having a higher level to be able to move control points, which
are underneath of an ident point.
• Ident point tooltips are now showing the ident point properties related to
the selected path.
Integrated feature hover function
Improved visualization for corner features
AGV shape will be visualized using odometry data if no localization is activated
Added multi feature selection by using CTRL
Shape selection added for dialog screen "New AGV"
Added AGV command "export"
Added tooltip for ident point commands
New icons integrated
UI style adjustments
New coloring of laser data and features
Added map name limitation of 26 characters
Added new feature to create directly an ident point on an control point position
Fixed issue within bigger maps and data storage
Fixed issue with NAT compatibility
Fixed issue with "Fit map" function to use all kind of features for centering the
map
Fixed issues with reflector visualization
Fixed issue by an amount of used scanner greater than two
Fixed issue with new feature type "StationFeatures". Those features are high‐
lighted green turquoise
1.2.0 30.04.2020 Added AGV history for localization and odometry data
Kinematic center visualization improved
1.1.0 28.02.2020 Offline & online parametrization integrated
AGV command interface added
Improved deployment
Multi-map linking added
More visualization details integrated into UI
Fixes of v1.0.0
1.0.0 30.09.2019 First release
Web-based architecture

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A.3 Changelog ANS+ Engineering Tool

Version Date Changes

Multi-plattform supported
• Windows 10
• Linux
New design
Multi connection
Multi deployment
Server handling

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Appendix
A.4 Service and Support

A.4 Service and Support

Industry Online Support

Do you have any questions or need assistance?
Siemens Industry Online Support offers round the clock access to our entire service and
support know-how and portfolio.
The Industry Online Support is the central address for information about our products,
solutions and services.
Product information, manuals, downloads, FAQs, application examples and videos – all
information is accessible with just a few mouse clicks at:
• https://support.industry.siemens.com (https://support.industry.siemens.com)

Technical Support
The Technical Support of Siemens Industry provides you fast and competent support regarding
all technical queries with numerous tailor-made offers - ranging from basic support to individual
support contracts.
You send queries to Technical Support via Web form:
• https://www.siemens.com/industry/supportrequest (https://www.siemens.com/industry/
supportrequest)

SITRAIN – Training for Industry

With our globally available training courses for our products and solutions, we help you achieve
knowledge with practical experience, innovative learning methods and a concept that is tailored
to specific customer needs.
For more information on our offered trainings and courses, as well as locations and dates,
refer to:
• https://www.siemens.com/sitrain (https://www.siemens.com/sitrain)

Service offer
Our range of services includes the following:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrofitting and modernization services
• Service programs and contracts
You can find detailed information on our range of services in the service catalog:
• https://support.industry.siemens.com/cs/sc (https://support.industry.siemens.com/cs/sc)

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 Appendix
A.4 Service and Support

Industry Online Support app

You will receive optimum support wherever you are with the "Siemens Industry Online Support"
app.
The app is available for Apple iOS, Android and Windows Phone:
• https://support.industry.siemens.com/cs/ww/en/sc/2067 (https://
support.industry.siemens.com/cs/ww/en/sc/2067)

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Appendix
A.5 Links and Literature

A.5 Links and Literature

Nr. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com (https://support.industry.siemens.com/cs/de/en/)
\2\ Link to an application example
https://support.industry.siemens.com/cs/ww/de/view/109755405 (https://
support.industry.siemens.com/cs/ww/en/view/109755405)
\3\ Programming Guidelines and Programming Styleguide for SIMATIC S7-1200 und S7-1500
https://support.industry.siemens.com/cs/ww/de/view/81318674 (https://
support.industry.siemens.com/cs/ww/en/view/81318674)
\4\ Configuration and Application of the PROFINET I-Device Function
https://support.industry.siemens.com/cs/ww/de/view/109478798 (https://
support.industry.siemens.com/cs/ww/en/view/109478798)
\5\ Guideline on Library Handling in TIA Portal
https://support.industry.siemens.com/cs/ww/de/view/109747503 (https://
support.industry.siemens.com/cs/ww/en/view/109747503)
\6\ Reading of failsafe analog Values
https://support.industry.siemens.com/cs/de/de/view/45830615 (https://
support.industry.siemens.com/cs/ww/en/view/45830615)

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 Appendix
A.6 Changelog documentation

A.6 Changelog documentation

Version Date Changes

2.1.0 26.04.2024 --- Documentation related to SIMOVE ANS+ V2.1.0. ---
• Added chapters
– Costmaps
– Visual Obstacle Avoidance (VOA) Module
– Copy and move paths
– Order Handling from PLC
– Parameter Prioritization
– Keyence
– Diagnostic Packages
• Updated chapters
– Update
– ANS+ V2.1.0 installation
– ANS+ NC module manual start
– Parameter setup
– Usable feature types
– edge commands
– Gridmap clearing and editing
– Logical path engineering
– Ident point commands
– PLC commands for free path planning
– Parametrization
– Track integration
– Movement direction on edge
– SICK nanoScan3
– Support
– Issue reference list
• Restructured chapters
– Path engineering
• Added figures
– Figure 4-16 Workspace UI - Cameras
• Updated figures
– Figure 2-3 Successful start of all SIMOVE ANS+ modules
– Figure 4-6 ANS+ ET login screen
– Figure 4-12 Visualization configuration panel within "Work‐
space" page
– Figure 4-28 ANS+ ET “Status” page and related windows
– Figure 5-1 Lateral and longitudinal distances of the motion
flow kraken controller

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Appendix
A.6 Changelog documentation

Version Date Changes

– Figure 5-2 Alternative trajectories based on the lateral and
longitudinal distances
– Figure 6-3 Kalman Corners default parameters
– Figure 6-9 ANS+ ET localization data activation
– Figure 8-9 Path extension in ANS+ ET
– Figure 8-24 Highlighted ident point due to added commands
– Figure 8-25 Selected path
– Figure 8-26 Edge commands
– Figure 9-2 Selection of start pose and target pose
– Figure 9-3 Executing of driving task
– 11-3 Advanced parameters
– Figure 14-8 Apply edge commands with movement direction
– Figure 14-9 Movement behavior of "Global edge orientation"
– Figure 14-10 Movement behavior of "Tangential edge orien‐
tation"
– Figure 14-11 Movement behavior of "Edge rotation allowed”
– Figure 14-26 Safety Designer microScan3 – "Data output"
page
– Figure 14-27 ANS+ "user_def" – microScan3 configuration ex‐
ample
– Figure 14-34 Safety Designer nanoScan3 – "Data output" page
– Figure 14-49 P&F R2000 laser specific “user_def” example pa‐
rameters
– Figure 14-35 ANS+ ET "user_def" – nanoScan3 configuration
example
2.0.1 15.08.2023 --- Documentation related to SIMOVE ANS+ V2.0.0. ---
• Correction of file names
• Updated Figure2-3

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A.6 Changelog documentation

Version Date Changes

2.0.0 16.06.2023 --- Documentation related to SIMOVE ANS+ V2.0.0. ---
• Updated structure of chapters
• Updated screenshots
• New added chapters:
– Required hardware
– ANS+ docker image installation
– Manual start of the nc module
– Update process to v2.0.0
– Advanced Parameters
– Initial configuration of parameter
– Free path planning
– Planner parameters
– Grid-based map (extension, clearing, editing)
– Zone engineering
– Align control points
– Edge handling/commands
• Changed chapters:
– Workspace colors
– Parameter page
– Corner feature
– Identpoint commands
– Movement behaviors
– Issue reference list
1.3.1 30.11.2022 --- Documentation related to SIMOVE ANS+ V1.7.1 ----
• "Status" page chapter updated
• „Update“ chapters updated related to new data structure
• Removed “Update ANS+ ET” chapter
• “Compatibility“ chapter updated
• Added new note for „Export Layout” function
• Screens updated related to new ANS+ ET version
• ANS+ NC and ET changelogs updated

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Appendix
A.6 Changelog documentation

Version Date Changes

1.3.0 30.11.2021 --- Documentation related to SIMOVE ANS+ V1.7.0 ----
Updated SICK microScan3 illustrations
Reworked "Path engineering" chapter 6
Reworked "Track integration" chapter 12.1
Issue list updated related to ANS+ NC v1.7.0
Reworked chapter "ANS+ ET user interface"
Reworked chapter "Commissioning"
Reworked chapter "Update"
Reworked "Linux IP change" related to Ind.OS
Updated "Reflector" feature description
Updated "General mapping process"
Updated "Holonomic movement" chapter
Fixed bug for holonomic tangential command
New added chapters
• "Status" page
• Shortcuts
• ANS+ & CC compatibility matrix
• SICK nanoScan3 example configuration
• P&F R2000 example configuration
• Leuze RSL455P example configuration
• Ident point commands
• Service Requests
• Linux OS handling
• Station engineering
• Map extension
• Path examples
• User login
• Kalman LineMidPoints
• "Workspace" page colors
• Map origin change
• Track integration
1.2.0 16.12.2020 --- Documentation related to ANS+ NC v1.6.1 ----
Sync adjustments for HTML documentation
Changed "Bézier curves" circle example three paths
Changed path illustrations
Added issue 0x2775
Added new chapter 12.4 for laser configuration
Resorted and merged chapters
Added shortcuts
Added chapter 12.1 "ANS+ track integration"

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A.6 Changelog documentation

Version Date Changes

1.1.3 20.08.2020 Added chapters "Update", "Record-files", "Movement behaviors"
Added additional phrase for required tools in chapter 1.
Updated illustrations due to new ANS+ ET colors
Improved "Map engineering" chapter
1.1.2 29.04.2020 Updated illustrations and references to version 1.2
Added missing issue default behavior
Minor changes within text
Added notice within mapping process for less movements
Added "doubled objects" within mapping process
Adjusted chapter 2.1.1 to WIN10 OS
Adjusted chapter 2.1.1 for WIN environment variables
1.1.1 07.04.2020 Added new issue "Vehicle – Time Too Old" (0x2744)
1.1.0 31.03.2020 Added new requirements for "Installed software"
Added chapter "Linux IP change"
Added chapter "Starting ANS+ navigation module manually"
Added chapter "ANS* issue reference list"
Changed Screenshot due to new ET version (v1.2.0)
Removed footer "Entry-ID"
1.0.0 06.03.2020 First Version
0.1.0 02/2020 First Draft

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A.6 Changelog documentation

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