Data Sheet

9 MGSWxxxx Magnetic Sensor Datasheet Version 1.2 March 28, 2018

This mode is therefore dependent on the ambient magnetic ﬁeld to be quite stable throughout the path of the

AGV, and that the zero level be calibrated. After calibration if no track or marker is present, the level should hov-

er around the 0 level. It is recommended that users survey the site with the sensor around 25mm all around

the projected path to verify that there is no local disturbance from metal in the ﬂoor.

If the zero level is higher in some areas, it may cross the Track detection threshold and detect a track where there

is none. This can be corrected by adding a correction that has the effect of shifting the entire ﬁeld capture up or

down. Use the ZADJ conﬁguration command to make this correction, as shown on Table 7., Conﬁguration Com-

mands.

Track

High

Medium

Marker Detection

Sensitivity

Low

Marker

Zero Leve

Track Detection

Threshold

}

FIGURE 9. Absolute Capture Shifted Using ZADJ Conﬁguration Command

Note that if the sensor capture is shifted too low, this could then trigger false Marker detections. This can be

averted by selecting a lower market sensitivity level.

Relative without Markers Mode

In the Relative mode, the sensor evaluates the shape of the curve independently of its position relative to the

0 level. It then sets the detection level to around the middle of the curve, as shown in Figure 10:

Track

Track Detection

Threshold

FIGURE 10. Relative Capture is Independent of the Ambient 0 Level

This technique is therefore a lot less sensitive to variations to the ambient level. However, it does not permit

the use of Markers.

Gyroscope

The sensor is equipped with a built-in 3-axis MEMs Gyroscope. The Gyroscope provides an accurate measure-

ment of the rate of rotation along each of the sensors planes with three levels of resolution: +/-250 degrees/s,

+/-500 degrees/s and +/-2000 degrees/s. The Gyroscope can be used to provide added stability to the AGV. It

can also be used to make the AGV continue to move in a straight line, without guiding tape, between two mag-

netic tapes or magnetic pins.