Integration Guides

This section summarizes the firmware behavior that matters most when integrating the MTS160 with an AGV controller, PLC, or navigation computer.

Serial Integration

Serial commands are ASCII text commands over USB or RS232. Command names are four characters long, are not case-sensitive, and must be terminated with carriage return (0x0D, \r).

For the main live measurement set, poll ?SALL or enable repeat mode:

?SALL
#SALL,10
@

#SALL,10 sends the SALL reply every 10 ms. The repeat scheduler runs with 5 ms internal resolution, so periods that are multiples of 5 ms are recommended. Sending @ stops all repeat commands.

The SALL reply contains track strength, left/right track position, left/right track angle, marker flags, fork/merge/intersection feature flags, marker X/Y coordinates, and an 8-bit frame counter.

CANopen Integration

For real-time control over CAN, use TPDO1 as the primary tracking message:

• TPDO1 (0x180 + NodeID) reports track positions, track angles, track strength, marker flags, and fork/merge/intersection feature flags.
• TPDO2 (0x280 + NodeID) reports marker X/Y positions in tenths of a millimeter.
• TPDO3 (0x380 + NodeID) reports the last decoded Navicode and its update counter.

Multi-byte TPDO values are little-endian. A TPDO is transmitted only when it is enabled and its configured period is nonzero. With Auto Run enabled, the sensor enters CANopen operational state at power-up and starts transmitting enabled TPDOs without a separate NMT command.

SDO configuration writes update the active runtime configuration. Save through the Naviq Utility or serial !SAVE if the changes should survive a power cycle.

Track-Following Signals

Use TDet or the TPDO1 track-strength bits to decide whether the sensor currently sees the magnetic guide tape:

Value	Meaning
0	No tape
1	Weak tape
2	Medium tape
3	Strong tape

When only one physical track is present, the left and right reported track values are identical. During forks and merges, the two reported tracks separate so the controller can choose the desired branch.

The fork, merge, and intersection feature flags are implemented in current firmware. They are advisory geometry hints, so validate them on the actual tape layout before using them for route decisions. During an intersection, marker flags are cleared and track angles are reported as zero, so use the intersection flag rather than interpreting zero angle as a normal straight section.

Markers, Point Sources, and Navicode

Left and right markers are opposite-polarity magnetic material placed beside the guide tape. Marker X/Y positions are reported in tenths of a millimeter.

When no guide tape is present, a standalone point-source magnet is commonly reported as both left and right marker detections at the same lateral position. Use the marker X/Y fields for final positioning workflows.

Navicode decoding requires markers alongside a detected guide tape. Standalone point-source magnets without tape do not update the Navicode value or counter.

Configuration Persistence

Configuration commands such as !CMCF, !RSCF, !CNCF, !SNCF, and !TDTH change the active runtime settings immediately. Send !SAVE after verifying the new settings if they should remain after power cycling.

Zero-level calibration (!ZERO) and factory reset (!RSET) save automatically.