A Systems Engineering Approach for the Design of an Omnidirectional Autonomous Guided Vehicle (AGV) Testing Prototype

Table 3

Electrical components’ general specifications.

Component	Reference	Specs.
Programmable logic controller (PLC)	SIEMENS - SIMATIC S7 - 1200, CPU 1214C dc/dc/dc	Work memory: 75 KB
		Supply: 24 V DC
		High-speed counters (HSCs): 6
Variable frequency drive (VFD)	SIEMENS - SINAMICS G110	1 digital input with galvanic isolation
		3 digital inputs without galvanic isolation
		1 analog input AIN: 0–10 V
Three-phase motor	SIEMENS - 1LA7 070-4YC60	Speed: 1,800 RPM
		Power: 0.4 HP
		Weight: 5 kg
Encoder	Autonics - E50S8-360-3-T-24	Incremental quadrature encoder
		Resolution: 360 PPR
		Supply: 12–24 V
		Max speed: 5,000 RPM
PC	DELL - LATITUD 3550	Intel core I5 2.2 GHz
		RAM: 8 GB
		OS: Ubuntu 18.04
Depth camera	Intel RealSense D435i	Use: Indoor/Outdoor
		Ideal Range: 0.3 to 3 m
		FOV: 87° x 58°
		Depth-out resolution: 1280 × 720
		RGB Resolution: 1920 × 1080
Joystick	Logitech - EXTREME 3DPRO	NA