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Standard Software for AGVs CANopen

One of the various typical applications for battery driven vehicles are driverless transportation systems (FTS) also called Automated Guided Vehicles (AGV).
For their specific function range Schwarzmüller-Inverter offers this standard application software. This AGV software configures PLUS+1 inverters with functions that are typically used for a speed controlled operation for drive, steer and pump actuation with a three phase-asynchronous motor.
In contrary to our other Standard SW for AGVs, which supports a basic and more simple CAN protocol, this version now supports full CANopen object dictionary with PDO, SDO, SYNC, EMCY, NMT, BOOT and HEART.

All other AGV specific functionalities are identical:

  • The set point can optionally be set via analog or digital signals (analog mode) or also via CAN-Bus (CAN mode).
  • Brake and main contactor are automatically set in the analog mode, in CAN mode via corresponding bus signals.
  • Extensive control functions protect inverter and drive.
  • All service communication like parameter setting and diagnostics is done through CAN communication via the
    PLUS+1 Service Tool or Service data object communication.This includes also the Motor Parameter, therefore
    a handling of the Motor Parameter as ReadOnlyFile is not possible in this version.The CANopen communication
    of the inverter is described in an EDS file.

    The SW is available with Field Oriented Control.

For more details, please look to product information, SW operation manual or wiring diagram:
pdfProduct Information Standard AGV CANopen Application Software V1.0.pdf1.25 MB
pdfOperation Manual PLUS+1 SW Standard AGV CANopen V1.1.pdf3.78 MB
pdfWiring Diagram SW Standard AGV.pdf83.38 KB(also valid for CANopen Version)

PLUS+1 Inverter HWD files & FB Library

  

PLUS+1 Inverter HWD Files
HWD fileRelease noteFile download
MI01-S, MI02-S, MI03-S,
MI04-S, MI08-S, MI20-S
pdfRead Me33.5 KB hwdMIxx 10108160v180.HWD9.11 MB
MI06 pdfRead Me43.88 KB hwdMIxx 10107979v170.HWD7.47 MB
MI03-X1 pdfRead Me29.5 KB hwdMIxx 50100001v120.HWD7.24 MB

  

  

PLUS+1 Inverter Function Block Library
LibraryRelease noteUser ManualFile download
Inverter
Function
Block
Library
pdfReadMe
39.25 KB
pdfUM PLUS+1 Inverter FB Library
  
3.17 MB
sdlPLUS_1_Inverter_FB_Library_V102.SDL
  
1.86 MB

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Standard Software Single Drive Class1 Traction

One of the various typical applications for battery driven vehicles are fork lift trucks.
The Class 1 Single Traction Drive Application Software is dedicated to the traction system of single drive counter balanced trucks with a three phase asynchronous motor.

  • The speed set point typically comes as an analog value from a potentiometer below the throttle pedal.
  • Forward and backward inputs define the drive direction.
  • A brake switch indicates that the mechanical brake is in use and commands the electric drive to enhance the deceleration.
  • A seat switch monitors the presence of the driver.
  • The parking brake (if available) and main contactor are automatically controlled.
  • Extensive control functions protect inverter and motor.

    The SW is only available with Field Oriented Control, Slip Control is no longer supported.

For more details, please look to product information, operation manual or wiring diagram:
pdfProduct Information Class1 Single Traction Drive Application Software.pdf1.03 MB
pdfOperation Manual PLUS+1 SW Class1 Single Traction Drive.pdf3.85 MB
pdfWiring Diagram MI01-MI20 Class1 Single Traction Drive.pdf83.03 KB

Standard Software for AGVs

One of the various typical applications for battery driven vehicles are driverless transportation systems (FTS) also called Automated Guided Vehicles (AGV).
For their specific function range Schwarzmüller-Inverter offers this standard application software. This AGV software configures PLUS+1 inverters with functions that are typically used for a speed controlled operation for drive, steer and pump actuation with a three phase-asynchronous motor.

  • The set point can optionally be set via analog or digital signals (analog mode) or also via CAN-Bus (CAN mode).
  • Brake and main contactor are automatically set in the analog mode, in CAN mode via corresponding bus signals.
  • Extensive control functions protect inverter and drive.

    The SW is available with Field Oriented Control. The Slip control version is no longer maintained.

For more details, please look to product information, SW operation manual or wiring diagram:
pdfProduct Information AGV Application Software.pdf1.21 MB
pdfOperation Manual PLUS1 SW Standard AGV.pdf3.16 MB
pdfWiring Diagram SW Standard AGV.pdf83.38 KB

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