Developer S Guide - SICK

Developer s GuideVersion 1.1Using Telegrams (CoLa ION . 42COMMUNICATION FORMAT . 52.12.22.32.42.52.63Binary Telegram (only LMS1xx, NAV310 and LD series) .5ASCII Telegram .6Variable Types .7Command Basics .7Blanks .8Login .8WORKFLOWS . 83.13.2Parametrize the scan .8Set Timestamp/Data Angle .84LOG IN TO DEVICE . 95BASIC SETTINGS . 105.1Set frequency and angular resolution .105.2Get frequency and angular resolution .155.3Set Measurement Sectors .185.3.1Sequence to configure the sectors and get measurement scans .205.4Scan Configurations .215.5Application Activation / Deactivation .235.6Get the status of the LMS .246MEASUREMENT OUTPUT TELEGRAM . 256.1Configure the data content for the scan .256.2Configure measurement angle of the scandata for output .296.2.1Ask for actual output range .316.3Polling one Telegram .326.4Send data permanent .336.4.1Example and Interpretation of one Telegram .407TIMESTAMP . 437.17.27.3Set timestamp .43Ask timestamp and device status .45Ask Device Time .47

Developer s Guide V1.1 xx8SAVE PARAMETERS PERMANENT. 489SET TO RUN . 4910 FILTER . 5010.110.210.310.410.510.610.710.8Particle Filter .50Mean Filter .51Set n-Pulse to 1-Pulse Filter .52Echo Filter.53Fog Filter.54Digital Nearfield Filter Enable / Disable .55Digital Nearfield Filter Hardware Gating .56Digital Nearfield Filter Sector Selection .5711 ENCODER . 5811.111.211.311.411.511.6Increment source .58Encoder Settings .59Encoder resolution .60Fixed speed .61Ask speed threshold .62Encoder speed .6312 OUTPUTS . 6412.112.212.312.412.512.612.712.812.9Ask state of the outputs .64Set output state .66Change output 6/3 function .67Change output 1 function .68Change output 1 Logic .69Change output 2 function .70Change output 2 Logic .71Change Input 4 function .72Reset output counter .7313 OTHER COMMANDS . 7413.1 Device Ident .7413.2 Device State .7513.3 Device Name .7613.3.1Set Device Name .7613.3.2Ask Device Name .7713.4 Operating hours .7813.5 Power On Counter .7913.6 IP-Address .8013.7 IP- Gateway .8113.8 IP-Mask .8213.9 Request Angle Compensation Sine ( NAV310 only ) .8313.10 Set factory defaults .8513.11 Set Factory Application defaults .8613.12 Reboot Device .8713.13 Contamination Measurement .8813.13.1 Set Contamination values .8813.13.2 Ask for contamination settings .8913.14 Synchronisation Phase .9013.15 Function Front Panel .918016687/YWL4/2014-07-042-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 xx13.16 Set Function LED 1 .9213.17 Set Function LED 2 .9313.18 Set LED 1 or 2 .9414 STANDBY MODE . 9515 START MEASUREMENT . 9616 STOP MEASUREMENT . 9717 SOPAS ERROR CODES . 9818 PROBLEMS . 998016687/YWL4/2014-07-043-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 xx1 DescriptionThat document shows how to send telegrams via terminal program in ASCII (also in Hex) orBinary to the LMS1xx, NAV310 and LD series. It includes the descripitons for thecommands how they work and some examples commands in ASCII, HEX and Binary forsending a telegram. Also the answers to expect from the LMS after sending a command areshown. The sensor always answers in the language he was talked to.Two workflows for getting a data scan out of the device and setting the timestamp can befound here.This document is for LMS1xx as well as for LMS5xx, NAV310 and the LD series and allparameters of the commands are listed but it is not a description of the differences of aLMS5xx LITE or PRO.Also it is valid for the TiM and the JEF, please find the information which telegram is validfor which device directly in the header of each telegram.That Guide doesn’t show the differences of all the parameters and options between thedevices completely.ATTENTION: Some commands may change during SICK development process. Please usealways the least version of the developer s guide.8016687/YWL4/2014-07-044-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 xx2 Communication format2.1Binary Telegram (only LMS1xx, NAV310 and LD series)The binary protocol is the basic protocol of the scanner. It has always a fix length and thecontent and byte length of the string fit to that document.The binary protocol has a special framing so that the scanner is able to recognize it as thestart of a binary telegram.The string has to start with 4 STX symbols (for example: 02 02 02 02), that is followed by thelength of the telegram in HEX (for example: 00 00 00 17).Example:Binary02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F472 47 44 B3Header: 02 02 02 02; Length: 00 00 00 17; Checksum: B3The length could be created by counting every single letter (Hex value) of the command(without checksum and framing but with blanks) and convert the value into HEX.After the length the command itself starts. All letters of the command convertet to HEX andthat the parameters (mostly numbers) written directly behind the command in pairs of two.All parameters of the command has to be in hex (for example: scan frequency 25Hz is00009C4h (It is a 4 byte value).Checksum is calculated with XOR.Between the command and the parameters, there has to be a blank, but not between theparameters itself.Example string:sMN SetAccessMode 04 81BE23AABinary string:02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 04 81 BE 23 AA 87In the scandata telegram from the scanner, the range values could be used as they are, theydon’t have to be convertet. Every value is 2 byte long.The binary protocol could only be used at the host port of the scanner, and at the momentonly with the LMS1xx.8016687/YWL4/2014-07-045-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 S36xxASCII TelegramThe ASCII telegram is an additional format and because of the ASCII signs a little better tounderstand.The framing of the telegram is a STX at the start and an ETX at the end of each telegram.The command is written in ASCII letters, followed by the parameters like defined in thatdocument. Parameters could be transferred in hex or decimal format, but in decimal formatthey need a sign (for example: scan frequency 25Hz: 09C4h/ 2500d)Attention: leading zeros of each parameter and value will be deleted, so the byte length of aparameter may not fit to what is standing in that document. That also causes different stringlength in the scan data telegram.For using with PLC’s the binary protocol is recommended.8016687/YWL4/2014-07-046-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 S36xxVariable TypesVariable typeBool 1Length (byte)1Value range0 or 1SignNoUint 810.255NoInt 81-128. 127YesUint 1620.65.535NoInt 162-32.768. 32.767YesUint 3240.4.294.967.295NoInt 3242.147.483.648. 2.147. Yes483.647Enum 81Enum 162NoNo-44.85.38.53Float 324-10 10StringContext-dependentStrings are notYesterminated in zeroesData length is given always in Bytes!2.4Command BasicsDescriptionStart of textValue ASCII STX Value Hex02End of textRead by nameWrite by nameMethodeEventSpace ETX sRNsWNsMNsEN{SPC}0320Value Binary02 02 02 02 givenlengthCalculated checksum73 52 4E73 57 4E73 4D 4E73 45 4E20If there are values coming in two parts (for example the outputs in the measurementtelegram documented as: 00 07, output will be 07 00; LSB first, than MSB)8016687/YWL4/2014-07-047-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 S36xxBlanksThe position of the blanks in a string is different in ASCII and Binary format, so they are notlisted in the tables, but they can be found in the example strings.2.6LoginYou must be logged in before you are allowed to send any parametrisation commands.Request for a data telegram can be done without login.3 Workflows3.1Parametrize the scan1. Log in:sMN SetAccessMode2. Set Frequency and Resolution:sMN mLMPsetscancfg3. Configure scandata content:sWN LMDscandatacfg4. Configure scandata output:sWN LMPoutputRange5. Store Parameters:sMN mEEwriteall6. Log out:sMN Run7. Request Scan:sRN LMDscandata / sEN LMDscandataGet the exact description of that commands down in that document.3.2Set Timestamp/Data Angle1. Log in:sMN SetAccessMode2. Sopas commandsMN LSPsetdatetime3. Log out:sMN Run8016687/YWL4/2014-07-048-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 xx4 Log in to devicePCLMS 1xx/5xx/NAV310/LD-OEM/LD-LRSTelegram structure: sMN SetAccessModeTelegramCommand TypeCommandDescriptionSopas by nameUser levelVariableStringStringLength313Values ASCIIsMNSetAccessModeUser levelselect user levelInt 8102 maintenance03 authorised client04 ServiceValues Binary73 4D 4E53 65 74 41 63 63 65 7373 4D 6F 64 6502 maintenance03 authorised client04 ServicePassword: main“Hash” - value forthe User level“Maintenance”“Hash” - value forthe User level“Authorised Client”“Hash” - value forthe User level“Service”Uint 324B21ACE26B2 1A CE 26Uint 324F4724744F4 72 47 44Uint 32481BE23AA81 BE 23 AAPassword:clientPassword:servicelevelExample: sMN SetAccessMode 03 F4724744ASCII STX sMN{SPC}SetAccessMode{SPC}03{SPC}F4724744 ETX HEX02 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 30 33 20 46 34 37 32 34 37 34 34 03Binary02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4 72 47 44 B3LMS 1xx/5xx/NAV310/LD-OEM/LD-LRSPCTelegram structure: sAN SetAccessModeTelegramCommand TypeCommandDescriptionSopas by nameUser levelVariableStringStringLength313Values ASCIIsANSetAccessModeChange userlevelchanged levelBool 110 Error1 SuccessValues Binary73 41 4E53 65 74 41 63 63 65 7373 4D 6F 64 6500 Error01 SuccessExample: sAN SetAccessModeASCII STX sAN{SPC}SetAccessMode{SPC}1 ETX HEX02 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 31 03Binary02 02 02 02 00 00 00 13 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 01 398016687/YWL4/2014-07-049-99 SICK AG · Germany · All rights reserved · Subject to change without notice

Developer s Guide V1.1 xx5 Basic settings5.1Set frequency and angular resolutionPCLMS 1xx/5xx/NAV310/LD-OEM/LD-LRSTelegram structure: sMN mLMPsetscancfgTelegramCommand TypeCommandScan FrequencyDescriptionSopas by nameConfig of scanfrequency andangular resolutionScan ues ASCIIsMNmLMPsetscancfgValues Binary73 4D 4E6D 4C 4D 50 73 65 74 73 6361 6E 63 66 67Uint 324LMS1xx:25Hz: 9C4h (2500d)50Hz: 1388h (5000d)25Hz:00 00 09 C450Hz:00 00 13 88LMS5xx:25Hz: 9C4h (2500d)35Hz: DACh (3500d)50Hz: 1388h (5000d)75Hz: 1A0Bh (75

Developer s Guide Using Telegrams (CoLa A/B) LMS1xx/5xx NAV310 LD-OEM15xx/LD-LRS36xx 1 Version 1.1 DESCRIPTION. 4 2 COMMUNICATION FORMAT . 5