Описание языка телеграмм (англ.)

Описание языка телеграмм (англ.)
TELEGRAM LISTING
User Protocol Services for Operating/
Configuring the LD-OEM/LD-LRS
Laser Measurement System
LD-OEM1000
LD-LRS1000/2100/3100
Telegram Listing
Software Versions
LD-OEM/LD-LRS Laser Measurement Systems
Software Versions
Device
Function
LD-OEM1000
Firmware
LD-LRS1000/2100/3100
Version
from V 2.1.7
Copyright
Copyright © 2006
SICK AG Waldkirch
Auto Ident, Reute Plant
Nimburger Strasse 11
79276 Reute
Germany
Latest Manual Version
For the latest version of this manual (PDF), see www.sick.com.
2
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Contents
LD-OEM/LD-LRS
Contents
1
Notes on this document............................................................................................. 9
1.1
1.2
1.3
1.4
Purpose..................................................................................................................... 9
Target audience ....................................................................................................... 9
Information content................................................................................................. 9
Symbols .................................................................................................................... 9
2.1
2.2
2.3
Authorized users ....................................................................................................11
Indended use .........................................................................................................11
General safety instructions and protection measures........................................11
2
3
Safety information ....................................................................................................11
Introduction................................................................................................................12
3.1 General ...................................................................................................................12
3.1.1 Purpose of the LD-OEM/LD-LRS......................................................................12
3.2 Host protocol..........................................................................................................13
3.2.1 Data type definition..........................................................................................13
3.2.2 Service code .....................................................................................................13
4
5
Available services......................................................................................................14
Service definitions.....................................................................................................16
5.1 Status Services ......................................................................................................16
5.1.1 GET_IDENTIFICATION .......................................................................................16
5.1.2 GET_STATUS.....................................................................................................16
5.1.3 GET_SIGNAL .....................................................................................................17
5.1.4 SET_SIGNAL......................................................................................................17
5.1.5 REGISTER_APPLICATION .................................................................................18
5.2 Configuration Services...........................................................................................19
5.2.1 SET_CONFIG .....................................................................................................19
5.2.2 GET_CONFIG.....................................................................................................21
5.2.3 SET_TIME_ABS .................................................................................................22
5.2.4 SET_TIME_REL .................................................................................................22
5.2.5 GET_SYNC_CLOCK ...........................................................................................22
5.2.6 SET_FILTER.......................................................................................................23
5.2.7 SET_FUNCTION.................................................................................................23
5.2.8 GET_FUNCTION.................................................................................................28
5.3 Measurement Services..........................................................................................29
5.3.1 Data format ......................................................................................................29
5.3.2 GET_PROFILE....................................................................................................31
5.3.3 CANCEL_PROFILE.............................................................................................32
5.4 Working Services ...................................................................................................33
5.4.1 DO_RESET.........................................................................................................33
5.4.2 TRANS_IDLE......................................................................................................33
5.4.3 TRANS_ROTATE ................................................................................................34
5.4.4 TRANS_MEASURE ............................................................................................34
5.5 Interface routing Services .....................................................................................35
5.5.1 COM_ATTACH ...................................................................................................35
5.5.2 COM_DETACH...................................................................................................35
5.5.3 COM_INIT (RS 232/RS 422) ...........................................................................36
5.5.4 COM_INIT (CAN)................................................................................................37
5.5.5 COM_OUTPUT (RS 232/RS 422) ....................................................................38
5.5.6 COM_OUTPUT (CAN).........................................................................................39
5.5.7 COM_DATA (RS 232/RS 422) .........................................................................40
5.5.8 COM_DATA (CAN) .............................................................................................40
5.6 File Services ...........................................................................................................41
5.6.1 DIR.....................................................................................................................41
5.6.2 SAVE..................................................................................................................41
5.6.3 LOAD .................................................................................................................42
5.6.4 DELETE..............................................................................................................42
5.7 Monitor Services ....................................................................................................43
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
3
Telegram Listing
Contents
LD-OEM/LD-LRS Laser Measurement Systems
5.7.1 MONITOR_RUN ................................................................................................ 43
5.7.2 MONITOR_PROFILE_LOG ................................................................................ 43
5.8 Special Services .................................................................................................... 44
5.8.1 SERVICE_FAILURE ........................................................................................... 44
6
Sensor modes............................................................................................................45
7
Examples for user protocol services ......................................................................48
8
Maximum data throughput .....................................................................................58
9
Error handling............................................................................................................60
6.1 Description of the sensor modes ......................................................................... 45
6.1.1 IDLE mode........................................................................................................ 45
6.1.2 ROTATE mode .................................................................................................. 45
6.1.3 MEASURE mode............................................................................................... 45
6.2 Availability of the service commands................................................................... 46
6.3 Sensor mode values.............................................................................................. 47
7.1 RS 232/422 interface .......................................................................................... 48
7.1.1 Short user protocol frame ............................................................................... 48
7.1.2 Long user protocol frame................................................................................ 50
7.1.3 Test sequence to check an RS 232/422 connection................................... 51
7.2 CAN interface......................................................................................................... 53
7.2.1 Short data structure of CAN interface............................................................ 53
7.2.2 Long user protocol frame............................................................................... 54
7.2.3 Test sequence to check a CAN connection.................................................... 54
7.3 Ethernet interface ................................................................................................. 56
7.3.1 Data structure via Ethernet Interface for realtime measurement ............... 56
7.3.2 Test sequence to check a Ethernet connection ............................................ 57
8.1 Data throughput at usage of the User Service Protocols ................................... 58
8.2 Examples of LD-OEM/LD-LRS configurations for real time transmission.......... 58
8.2.1 RS 232/422 interface..................................................................................... 58
8.2.2 CAN interface ................................................................................................... 59
8.2.3 Ethernet interface/SPI .................................................................................... 59
9.1
9.2
4
Fatal errors............................................................................................................. 60
Service errors......................................................................................................... 60
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Figures and tables
Telegram Listing
LD-OEM/LD-LRS
CAN
CRC
DID
DSP
EDM
LD
LD-LRS
SID
UPF
Abbreviation
Controller Area Network
Cyclic redundancy check
Transmitter ID
Digital Signal Processor
Electronic Distance Meter
Ladar Digital (Ladar = Laser Radar)
Ladar Digital - Longe Range Scanner
Sender ID
User Protocol Frame
Tables
Table 3-1:
Table 3-2:
Table 4-1:
Table 4-2:
Table 4-3:
Table 4-4:
Table 4-5:
Table 4-6:
Table 4-7:
Table 4-8:
Table 4-9:
Table 5-1:
Table 5-2:
Table 5-3:
Table 5-4:
Table 5-5:
Table 5-6:
Table 5-7:
Table 5-8:
Table 5-9:
Table 5-10:
Table 5-11:
Table 5-12:
Table 5-13:
Table 5-14:
Table 5-15:
Table 5-16:
Table 5-17:
Table 5-18:
Table 5-19:
Table 5-20:
Table 5-21:
Table 5-22:
Table 5-23:
Table 5-24:
Table 5-25:
Table 5-26:
Table 5-27:
8011576/0000/2006-04-10
Data type definition ......................................................................................... 13
Service code..................................................................................................... 13
Overview: Status Services............................................................................... 14
Overview: Configuration Services ................................................................... 14
Overview: Measurement Services .................................................................. 14
Overview: Working Services ............................................................................ 14
Overview: Interface Routing Services............................................................. 15
Overview: File Services.................................................................................... 15
Overview: Monitor Services............................................................................. 15
Overview: Application Services ....................................................................... 15
Overview: Special Services.............................................................................. 15
Status Services: GET_IDENTIFICATION (request command) ........................ 16
Response to GET_IDENTIFICATION ................................................................ 16
Status Services: GET_STATUS (request command) ...................................... 16
Response to GET_STATUS .............................................................................. 16
Status Services: GET_SIGNAL (request command)....................................... 17
Response to GET_SIGNAL............................................................................... 17
Definition of the 8 port bits of PORTVAL ........................................................ 17
Status Services: SET_SIGNAL (request command)....................................... 17
Response to SET_SIGNAL ............................................................................... 18
Status Services: REGISTER_APPLICATION (request command)................... 18
Response to REGISTER_APPLICATION........................................................... 18
Configuration Services: SET_CONFIG (request command)........................... 19
Configuration Services: Configuration parameters for RS 232/422........... 19
Configuration Services: Configuration parameters for CAN ......................... 20
Configuration Services: Configuration parameters for Ethernet .................. 20
Configuration Services: Configuration parameters for
global configuration......................................................................................... 21
Response to SET_CONFIG............................................................................... 21
Configuration Services: GET_CONFIG (request command) .......................... 21
Response to GET_CONFIG .............................................................................. 21
Configuration Services: SET_TIME_ABS (request command)....................... 22
Response to SET_TIME_ABS .......................................................................... 22
Configuration Services: SET_TIME_REL (request command)....................... 22
Response to SET_TIME_REL.......................................................................... 22
Configuration Services: GET_SYNC_CLOCK (request command)................. 22
Response to GET_SYNC_CLOCK.................................................................... 22
Configuration Services: SET_FILTER (request command) ............................ 23
Configuration Services: configuration parameters for nearfield
suppression...................................................................................................... 23
© SICK AG · Division Auto Ident · Germany · All rights reserved
5
Telegram Listing
Figures and tables
LD-OEM/LD-LRS Laser Measurement Systems
Table 5-28:
Table 5-29:
Table 5-30:
Table 5-31:
Table 5-32:
Table 5-33:
Table 5-34:
Table 5-35:
Table 5-36:
Table 5-37:
Table 5-38:
Table 5-39:
Table 5-40:
Table 5-41:
Table 5-42:
Table 5-43:
Table 5-44:
Table 5-45:
Table 5-46:
Table 5-47:
Table 5-48:
Table 5-49:
Table 5-50:
Table 5-51:
Table 5-52:
Table 5-53:
Table 5-54:
Table 5-55:
Table 5-56:
Table 5-57:
Table 5-58:
Table 5-59:
Table 5-60:
Table 5-61:
Table 5-62:
Table 5-63:
Table 5-64:
Table 5-65:
Table 5-66:
Table 5-67:
Table 5-68:
Table 5-69:
Table 5-70:
Table 5-71:
Table 5-72:
Table 6-1:
Table 6-2:
Table 6-3:
Table 6-4:
Table 6-5:
Table 6-6:
Table 6-7:
Table 6-8:
6
Response to SET_FILTER................................................................................23
Configuration Services: SET_FUNCTION (request command).......................23
Response to SET_FUNCTION..........................................................................28
Configuration Services: GET_FUNCTION (request command).......................28
Response to GET_FUNCTION..........................................................................28
Measurement Services: GET_PROFILE (request command).........................31
Definition of the 16-bit array of PROFILEFORMAT .........................................31
Response to GET_PROFILE.............................................................................32
Measurement Services: CANCEL_PROFILE (request command)..................32
Response to CANCEL_PROFILE.......................................................................32
Working Services: DO_RESET (request command)........................................33
Response to DO_RESET...................................................................................33
Working Services: TRANS_IDLE (request command) ....................................33
Response to TRANS_IDLE ...............................................................................33
Working Services: TRANS_ROTATE (request command)...............................34
Response to TRANS_ROTATE..........................................................................34
Working Services: TRANS_MEASURE (request command) ...........................34
Response to TRANS_MEASURE ......................................................................34
Interface routing Services: COM_ATTACH (request command) ....................35
Response to COM_ATTACH .............................................................................35
Interface routing Services: COM_DETACH (request command)....................35
Response to COM_DETACH.............................................................................36
Interface routing Services: COM_INIT (RS 232/RS 422)
(request command)..........................................................................................36
Response to COM_INIT (RS 232/RS 422) .....................................................36
Interface routing Services: COM_INIT (CAN) (request command) ................37
Response to COM_INIT (CAN)..........................................................................37
Interface routing Services: COM_OUTPUT (RS 232/RS 422) (request
command).........................................................................................................38
Response to COM_OUTPUT (RS 232/RS 422) ..............................................38
Interface routing Services: COM_OUTPUT (CAN) (request command) .........39
Response to COM_OUTPUT (CAN)...................................................................39
Interface routing Services: COM_DATA (RS 232/RS 422)
(request command)..........................................................................................40
Interface routing Services: COM_OUTPUT (CAN) (request command) .........40
File Services: DIR (request command) ...........................................................41
Response to DIR...............................................................................................41
File Services: SAVE (request command).........................................................41
Response to SAVE............................................................................................42
File Services: LOAD (request command) ........................................................42
Response to LOAD ...........................................................................................42
File Services: DELETE (request command) ....................................................42
Response to DELETE........................................................................................43
Monitor Services: MONITOR_RUN (request command).................................43
Response to MONITOR_RUN...........................................................................43
Monitor Services: MONITOR_PROFILE_LOG (request command).................43
Response to MONITOR_PROFILE_LOG...........................................................44
Response to an illegal service request...........................................................44
Availability of the service commands: Status Services .................................46
Availability of the service commands: Configuration Services......................46
Availability of the service commands: Measurement Services.....................46
Availability of the service commands: Working Services...............................46
Availability of the service commands: Interface Routing Services ...............47
Availability of the service commands: File Services ......................................47
Availability of the service commands: Monitor Services ...............................47
Sensor mode values ........................................................................................47
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Figures and tables
LD-OEM/LD-LRS
Table 8-1:
Table 8-2:
Table 8-3:
Table 8-4:
Data throughput of LD-OEM/LD-LRS data interfaces if
User Service Protocols are used..................................................................... 58
Data throughput of the RS 232/422 interface depending
of the LD-OEM/LD-LRS configuration............................................................. 58
Data throughput of the CAN interface depending
of the LD-OEM/LD-LRS configuration............................................................. 59
Data throughput of the Ethernet interface/SPI depending
of the LD-OEM/LD-LRS configuration............................................................. 59
Figures
Fig. 3-1: Position of the LD-OEM/LD-LRS in the polar coordinates (top view).............. 12
Fig. 5-1: Example 1: Using the whole range as one sector for measurement
(top view)............................................................................................................. 25
Fig. 5-2: Example 2: Using the sector 90° to 180° for measurement (top view).......... 26
Fig. 5-3: Example 3: Using two sectors (125° to 147°) and (270° to 360°) for
measurement (top view) .................................................................................... 27
Fig. 5-4: Structure of the 16-bit binary distance values, represented in a WORD ....... 29
Fig. 5-5: Distance resolution of the upper and lower bit blocks .................................... 29
Fig. 5-6: Angular resolution by the encoder, represented in a WORD........................... 29
Fig. 5-7: Echo amplitude, represented in a WORD ......................................................... 30
Fig. 7-1: Ethernet: Structure of the UPF packet in the User Service Protocol............... 56
Fig. 7-2: Ethernet: Request by the PC/answer of the LD-OEM/LD-LRS to
status request..................................................................................................... 57
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
7
Telegram Listing
Figures and tables
LD-OEM/LD-LRS Laser Measurement Systems
Notes:
8
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Notes on this document
Telegram Listing
Chapter 1
LD-OEM/LD-LRS
1
Notes on this document
1.1
Purpose
This document shows you how to use and configure (parameterise) the LD-OEM/LD-LRS Laser Measurement Systems by means of a compact command language (User Protocol Services), based on telegrams.
The document contains information on:
•
Data communication between the host/driver and laser measurement system
•
Configuration by means of telegrams
•
Commands/responses in the telegrams
•
Troubleshooting
Note From now on, the LD-OEM/LD-LRS Laser Measurement Systems (LD-OEM1000,
LD-LRS1000/2100/3100) will simply be referred to as the “LD-OEM/LD-LRS“.
1.2
Target audience
This document is aimed at technicians and engineers.
1.3
Information content
This document contains all the information required for communicating with the
LD-OEM/LD-LRS by means of telegrams.
The LD-OEM1000 is mounted, installed electrically and for the communication
parameters basic setted in accordance with the specifications in the
(German edition: order no. 8011503, English edition: order no. 8011504).
The LD-LRS1000/2100/3100 is mounted, installed electrically and for the communication parameters basic setted in accordance with the specifications in the
(German edition: order no. 8011305, English edition:
order no. 8011306).
For the basic description of the data communication via the three interface types of the
LD-OEM/LD-LRS see the appendix in the operating instructions.
For further information on laser measurement technology, please contact the SICK AG or
visit the Sick Web site at www.sick.com.
LD-OEM1000 Opera-
ting Instructions
LD-LRS1000/
2100/3100 Operating Instructions
1.4
Symbols
Certain information in this documentation is specially highlighted to draw your attention:
Italics are used to refer to more detailed information elsewhere.
Explanation Explanations provide background information on technical correlations.
Note Provide information on special features.
Default settings Lists the default factory settings for the LD-OEM/LD-LRS.
This symbol indicates that further technical documentation is available for the subject in
question.
Reference
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
9
Chapter 1
Notes on this document
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
This symbol indicates important information.
This symbol warns against improper use of the LD-OEM/LD-LRS.
10
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Safety information
Chapter 2
LD-OEM/LD-LRS
2
Safety information
2.1
Authorized users
To ensure that the LD-OEM/LD-LRS works properly and safely, it must be installed, parameterised, and operated by sufficiently qualified personnel.
The following qualifications are required for commissioning and operation:
•
Basic, practical training in electrical engineering
•
Knowledge of the relevant safety guidelines
•
Knowledge of the hardware and software environment for the relevant application
•
Basic data transfer knowledge
•
Basic programming knowledge
2.2
Indended use
The LD-OEM/LD-LRS is a non-contact, stand-alone remote (RS 232/422) or networking
(CAN, Ethernet) distance measuring system designed for use in industrial environments.
The LD-OEM/LD-LRS outputs measured conture values as raw data via a data interface.
These data can be queried and evaluated in real time by a host computer with fast data
communication by means of application software (driver) provided by the customer.
The four switching outputs “OUT 1“ to “OUT 4“ as well as the two yellow LEDs can be freely
assigned to a function by means of the application software.
Implementing the device in any other applications, modifying it in any way, whether during
mounting and electrical installation, or making changes to the SICK software will result in
an annulment of any warranty claims vis-à-vis SICK AG.
2.3
General safety instructions and protection measures
1. The LD-OEM/LD-LRS uses a class 1 laser (eye-safe).
Observe the laser safety standards to EN/IEC 60825-1 (latest version).
2. When using electrical systems, observe the standard safety precautions.
(The LD-OEM/LD-LRS requires 24 V DC).
The LD-OEM/LD-LRS Laser Measurement Systems are not devices for personnel protection in the sense of valid safety standards for machines.
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
11
Chapter 3
Telegram Listing
Introduction
LD-OEM/LD-LRS Laser Measurement Systems
3
Introduction
3.1
General
This document desribes the services, which control the action of the LD-OEM/LD-LRS.
3.1.1
Purpose of the LD-OEM/LD-LRS
The LD-OEM/LD-LRS scans the surroundings by a laser beam and supplies the measured
distances. The resulting datas are polar coordinates. The LD-OEM/LD-LRS head rotates
clockwise (mathematical negative). The origin of the coordinate system is shown in
.
Fig. 3-1
180°
90°
270°
0°
Fig. 3-1:
Position of the LD-OEM/LD-LRS in the polar coordinates (top view)
Communication with the sensor is possible via several interfaces:
•
RS 232/RS 422
•
CAN
•
Ethernet
•
Internal with application processor/DSP
The LD-OEM1000/LD-LRS1000 owns 4 LEDs:
– The red LED indicates a fatal error.
– The green LED blinks permanently, indicating, that the device "lives".
When the device emitts laser pulses, the green LED blinks with a higher frequency.
– The programmable function of the two yellow LEDs are accessible by the user.
12
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 3
Introduction
LD-OEM/LD-LRS
3.2
Host protocol
The host protocol provides a set of commands to control the LD-OEM/LD-LRS. This set of
commands is divided into different service groups.
When the LD-OEM/LD-LRS has received a host protocol command, it answers with a certain
response. The LD-OEM/LD-LRS responds when the service has been processed. Generally,
this takes less than one second. An exception is the service TRANS_ROTATE, which can take
several seconds.
Host protocol commands can be received via all interfaces. The interface dependent
description of the protocol can be found in the
(German edition: order no. 8011503, English edition: order no. 8011504) respectively in
the
(German edition: order no. 8011305,
English edition: order no. 8011306).
LD-OEM1000 Operating Instructions
LD-LRS1000/2100/3100 Operating Instructions
3.2.1
Type
Data type definition
Format
signed
INT16
2 Byte
unsigned
BYTE
1 Byte
WORD
2 Byte
DWORD
4 Byte
Table 3-1: Data type definition
3.2.2
Valid values
–32,768 to +32,767
0 to 255
0 to 65535
0 to 4,294,967,295
Service code
The service code is used to determine the kind of service of a host request. It can be seen
as the command. Its data format is WORD.
The most significant bit defines whether the code is a request or a response. For a request
the most significant bit is set to zero and for a response it is set to one. Usually the LD-OEM/
LD-LRS does not request any data. Consequently, requests are sent by the host whereas responses are sent by the LD-OEM/LD-LRS. The remaining of the high byte determines the
service group and the low byte defines the service number (
).
Table 3-2
Bit 15
Bit 14 to 8
Response bit
Service group 0 to 127
Table 3-2: Service code
8011576/0000/2006-04-10
Bit 7 to 0
Service number 0 to 255
© SICK AG · Division Auto Ident · Germany · All rights reserved
13
Chapter 4
Available services
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
4
Available services
The following list gives an overview of the provided services.
Service group 01h: Status Services
Service No. Service
01h
GET_IDENTIFICATION
02h
GET_STATUS
03h
Reserved
04h
GET_SIGNAL
05h
SET_SIGNAL
06h
REGISTER_APPLICATION
Table 4-1: Overview: Status Services
See
Section 5.1.1, Page 16
Section 5.1.2, Page 16
Section 5.1.3, Page 17
Section 5.1.4, Page 17
Section 5.1.5, Page 18
Service group 02h: Configuration Services
Service No. Service
01h
SET_CONFIG
02h
GET_CONFIG
03h
SET_SYNC_ABS
04h
SET_SYNC_REL
05h
GET_SYNC_CLOCK
06h
Reserved
07h
Reserved
08h
Reserved
09h
SET_FILTER
0Ah
SET_FUNCTION
0Bh
GET_FUNCTION
Table 4-2: Overview: Configuration Services
See
Section 5.2.1, Page 19
Section 5.2.2, Page 21
Section 5.2.3, Page 22
Section 5.2.4, Page 22
Section 5.2.5, Page 22
Section 5.2.6, Page 23
Section 5.2.7, Page 23
Section 5.2.8, Page 28
Service group 03h: Measurement Services
Service No. Service
01h
GET_PROFILE
02h
CANCEL_PROFILE
Table 4-3: Overview: Measurement Services
See
Section 5.3.2, Page 31
Section 5.3.3, Page 32
Service group 04h: Working Services
Service No. Service
01h
DO_RESET
02h
TRANS_IDLE
03h
TRANS_ROTATE
04h
TRANS_MEASURE
Table 4-4: Overview: Working Services
14
© SICK AG · Division Auto Ident · Germany · All rights reserved
See
Section 5.4.1, Page 33
Section 5.4.2, Page 33
Section 5.4.3, Page 34
Section 5.4.3, Page 34
8011576/0000/2006-04-10
Telegram Listing
Available services
Chapter 4
LD-OEM/LD-LRS
Service group 06h: Interface Routing Services
Service No. Service
01h
COM_ATTACH
02h
COM_DETACH
03h
COM_INIT
04h
COM_OUTPUT
05h
COM_DATA
Table 4-5: Overview: Interface Routing Services
See
Section 5.5.1, Page 35
Section 5.5.2, Page 35
Section 5.5.3, Page 36
Section 5.5.5, Page 38
Section 5.5.7, Page 40
Service group 07h: File Services
Service No. Service
01h
DIR
02h
SAVE
03h
LOAD
04h
DELETE
Table 4-6: Overview: File Services
See
Section 5.6.1, Page 41
Section 5.6.2, Page 41
Section 5.6.3, Page 42
Section 5.6.4, Page 42
Service group 08h: Monitor Services
Service No. Service
01h
MONITOR_ENABLE_LOG
02h
MONITOR_PROFILE_LOG
Table 4-7: Overview: Monitor Services
See
Section 5.7.1, Page 43
Section 5.7.2, Page 43
Service group 10 to 3Fh: Application Services
Service No.
Service
Services are depending on application software in application DSP
Table 4-8: Overview: Application Services
Service group 7Fh: Special Services
Service No. Service
00h
SERVICE_FAILURE
Table 4-9: Overview: Special Services
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
See
Section 5.8.1, Page 44
15
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
5
Service definitions
5.1
Status Services
5.1.1
GET_IDENTIFICATION
Request command 0101h:
Information about the LD-OEM/LD-LRS type, firmware and application version
Parameter
Type
Meaning
IDENTITEM
WORD
0000h Part number of the sensor (LD-OEM/LD-LRS)
0001h Name of sensor (LD-OEM/LD-LRS)
0002h Version of the sensor (LD-OEM/LD-LRS)
0003h Serial number of the LD-OEM/LD-LRS unit
0004h Serial number of EDM unit
0010h Part number of the firmware
0011h Name of the firmware
0012h Version of the firmware
0020h Part number of the application software
0021h Name of the application software
0022h Version of the application software
Table 5-1: Status Services: GET_IDENTIFICATION (request command)
Description
LD-OEM/LD-LRS response 8101h:
Response of LD-OEM/LD-LRS
Parameter
Type
Meaning
IDENTITEM
WORD[6]
See request command
SENSSTAT
DWORD
Status of LD-OEM/LD-LRS
Table 5-2: Response to GET_IDENTIFICATION
Description
The return value of GET_IDENTIFICATION is a string of ASCII characters. Two characters are
transmitted within a single WORD.
If the requested
is invalid, the LD-OEM/LD-LRS responses to the
(part number).
IDENTITEM
IDENTITEM
0000h
5.1.2
GET_STATUS
Request command 0102h:
Status query
Parameter
Type
Meaning
Table 5-3: Status Services: GET_STATUS (request command)
Description
LD-OEM/LD-LRS response 8102h:
Response of LD-OEM/LD-LRS
Parameter
Type
Meaning
SENSSTAT
DWORD
Status of the sensor (LD-OEM/LD-LRS)
Table 5-4: Response to GET_STATUS
Description
16
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 5
Service definitions
LD-OEM/LD-LRS
The definition of the
Page 47.
5.1.3
SENSTAT
value is shown in
Chapter 6.3 Sensor mode values,
GET_SIGNAL
Request command 0104h:
Reads the value of the switch and LED port
Parameter
Type
Meaning
Table 5-5: Status Services: GET_SIGNAL (request command)
Description
LD-OEM/LD-LRS response 8104h:
Response of LD-OEM/LD-LRS
Parameter
Type
Meaning
PORTVAL
WORD
Lower Byte: Port bits
Upper Byte: 00h
Table 5-6: Response to GET_SIGNAL
Description
The definition of the 8 port bits of PORTVAL:
Bit
Meaning
0
LED 0 (yellow)
1
LED 1 (yellow)
2
LED 2 (green)
3
LED 3 (red)
4
Switch 0
5
Switch 1
6
Switch 2
7
Switch 3
Table 5-7: Definition of the 8 port bits of PORTVAL
Note A LED or switch is on when the corresponding bit is set to 1.
5.1.4
SET_SIGNAL
Request command 0105h:
Sets the switches and LEDs
Parameter
Type
Meaning
PORTVAL
WORD
Lower byte: Port bits
Upper byte: Do not care
Table 5-8: Status Services: SET_SIGNAL (request command)
Description
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
17
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
LD-OEM/LD-LRS response 8105h:
Response of LD-OEM/LD-LRS
Parameter
Type
Meaning
PORTVAL
WORD
Request successful:
Lower byte: Port bits
Upper byte : 00h
Request failed:
Lower byte: FFh
Upper byte: FFh
Table 5-9: Response to SET_SIGNAL
Description
Note The definition of PORTVAL is given in GET_SIGNAL.
Bit 2 (LED 2, green) and Bit 3 (LED 3, red) are not accessible via the service SET_SIGNAL.
5.1.5
REGISTER_APPLICATION
Request command 0106h:
Registers the identification datas of the application firmware
Parameter
Type
Meaning
APPL_ARTICLE
WORD[6]
Part number of the application software
APPL_NAME
WORD[6]
Name of the application software
APPL_VERSION
WORD[6]
Version of the application software
Table 5-10: Status Services: REGISTER_APPLICATION (request command)
Description
LD-OEM/LD-LRS response 8106h:
Response of LD-OEM/LD-LRS
Parameter
Type
Meaning
RESULT
WORD
0, if successful
Table 5-11: Response to REGISTER_APPLICATION
Description
Note Each parameter in the request command is a byte sequence of 12 ASCII characters.
This command is only accepted, if it was sent by the application board.
18
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter
Service definitions
5
LD-OEM/LD-LRS
5.2
Configuration Services
The configuration services handle the parameter setting and the internal clock of the
LD-OEM/LD-LRS. The internal clock is a 16-bit counter that supplies the internal time in milliseconds.
5.2.1
SET_CONFIG
Request command 0201h:
One time set-up for the application (all parameters are stored permanently in a non-volatible memory).
Sets the configuration
Parameter
Type
Meaning
CONFIGITEM
WORD
0000h Reserved
0001h RS 232/RS 422 configuration key
0002h CAN configuration key
0003h Reserved
0005h Ethernet configuration key
0010h Global configuration
CONFIGDATA
WORD[k]
Configuration parameters; depend on configuration key
Table 5-12: Configuration Services: SET_CONFIG (request command)
Description
Configuration parameters for RS 232/422 configuration,
Parameter
CONFIGDATA[0]
CONFIGDATA[1]
CONFIGDATA[2]
CONFIGDATA[3]
CONFIGITEM = 0001h
Meaning
Baud rate:
0001h
4,800 bd
0002h
9,600 bd
0003h
19,200 bd
0004h
38,400 bd
0005h
57,600 bd
0006h
115,200 bd
Not supported, always written as 0
0: No parity
1: Even parity
2: Odd parity
Not supported, always written as 1
1: One stop bit
2: Two stop bits
Not supported, always written as 8
Number of bits per character (1 to 8 bit)
Table 5-13: Configuration Services: Configuration parameters for RS 232/422
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
19
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
Configuration parameters for CAN configuration,
CONFIGITEM = 0002h
Parameter
CONFIGDATA[0]
Meaning
CAN data transmission rate:
0000h
10 kbit/s
0001h
20 kbit/s
0002h
50 kbit/s
0003h
125 kbit/s
0004h
250 kbit/s
0005h
500 kbit/s
0006h
1 Mbit/s
CONFIGDATA[1]
Basic value of the host CAN identifier
CONFIGDATA[2]
Mask value of the host CAN identifier
CONFIGDATA[3]
Basic value of the LD-OEM/LD-LRS CAN identifier
CONFIGDATA[4]
Broadcast-ID (0000 to 07FFh)
FFFFh: Broadcast ID disabled
Table 5-14: Configuration Services: Configuration parameters for CAN
Note The basic value and the mask value of the host CAN identifier determines, which CAN messages the LD-OEM/LD-LRS accepts.
Example:
HostBase = 0x180, HostMask = 0x007, the LD-OEM/LD-LRS accepts all CAN identifiers in
the range of 0x180 to 0x187.
In addition, the LD-OEM/LD-LRS accepts the CAN-identifier specified by the parameter
Broadcast ID. The CAN identifier of the host sensor results from a logical OR operation between the LD-OEM/LD-LRS sensor ID and the base value of the LD CAN identifier.
Configuration parameters for Ethernet configuration,
CONFIGITEM = 0005h
Parameter
CONFIGDATA[0]
CONFIGDATA[1]
CONFIGDATA[2]
CONFIGDATA[3]
Meaning
IP address: leftmost part
IP address
IP address
IP address: rightmost part
Example
192 =
168 =
1
=
11 =
00C0h
00A8h
0001h
000Bh
CONFIGDATA[4]
CONFIGDATA[5]
CONFIGDATA[6]
CONFIGDATA[7]
Subnet mask: leftmost part
Subnet mask
Subnet mask
Subnet mask: rightmost part
255
255
255
0
=
=
=
=
00FFh
00FFh
00FFh
0000h
CONFIGDATA[8]
CONFIGDATA[9]
CONFIGDATA[A]
CONFIGDATA[B]
Standard gateway: leftmost part
Standard gateway
Standard gateway
Standard gateway: rightmost part
192
168
1
1
=
=
=
=
00C0h
00A8h
0001h
0001h
CONFIGDATA[C]
Node ID
16 = 10h = Sensor ID
CONFIGDATA[D]
TCP/IP Transparent port
Table 5-15: Configuration Services: Configuration parameters for Ethernet
20
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 5
Service definitions
LD-OEM/LD-LRS
Configuration parameters for global configuration,
CONFIGITEM = 0x10h
Parameter
CONFIGDATA[0]
Meaning
LD-OEM/LD-LRS sensor ID:
0000h to 00FEh (1 to 254)
CONFIGDATA[1]
Nominal value motor speed
0005h to 0014h (5 to 20)
CONFIGDATA[2]
Angle step; difference between two laser pulses in 1/16 degrees.
The value must be a divisor of 5,760 and greater than 1.
Table 5-16: Configuration Services: Configuration parameters for global configuration
Note All three values must be set at the same time.
LD-OEM/LD-LRS response 8201h:
Response of LD-OEM/LD-LRS
Type
Meaning
CONFIGRESULT
WORD
0000h Configuration setting was successful
FFFFh Configuration setting was not successful
Table 5-17: Response to SET_CONFIG
Description
Parameter
5.2.2
GET_CONFIG
Request command 0202h:
Reads the configuration settings
Type
Meaning
CONFIGITEM
WORD
Configuration key
Table 5-18: Configuration Services: GET_CONFIG (request command)
Description
Parameter
LD-OEM/LD-LRS response 8202h:
Description
Parameter
CONFIGRESULT
Response of LD-OEM/LD-LRS
Type
Meaning
WORD
Configuration key.
If this value is FFFFh, the requested configuration key
was invalid and the CONFIGDATA field is empty
WORD[k] Configuration parameters; depend on configuration key
CONFIGDATA
Table 5-19: Response to GET_CONFIG
See
key values and parameters.
Chapter 5.2.1 SET_CONFIG, Page 19
8011576/0000/2006-04-10
(SET_CONFIG service) for details of configuration
© SICK AG · Division Auto Ident · Germany · All rights reserved
21
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
5.2.3
SET_TIME_ABS
Request command 0203h:
Sets the internal clock to the time stamp value
Type
Meaning
SYNCABS
WORD
New value of the internal clock (ms)
Table 5-20: Configuration Services: SET_TIME_ABS (request command)
Description
Parameter
LD-OEM/LD-LRS response 8203h:
Response of LD-OEM/LD-LRS
Type
Meaning
SYNCTIME
WORD
New value of the internal clock (ms)
Table 5-21: Response to SET_TIME_ABS
Description
Parameter
5.2.4
SET_TIME_REL
Request command 0204h:
Corrects the internal clock by a defined value
Type
Meaning
SYNCREL
INT16
Offset value (ms), which corrects the internal clock
Table 5-22: Configuration Services: SET_TIME_REL (request command)
Description
Parameter
LD-OEM/LD-LRS response 8204h:
Response of LD-OEM/LD-LRS
Type
Meaning
SYNCTIME
WORD
New value of the internal clock (ms)
Table 5-23: Response to SET_TIME_REL
Description
Parameter
5.2.5
GET_SYNC_CLOCK
Request command 0205h:
Reads the internal time of LD-OEM/LD-LRS
Type
Meaning
Table 5-24: Configuration Services: GET_SYNC_CLOCK (request command)
Description
Parameter
LD-OEM/LD-LRS response 8205h:
Response of LD-OEM/LD-LRS
Type
Meaning
SYNCTIME
WORD
Actual time of the internal clock (ms)
Table 5-25: Response to GET_SYNC_CLOCK
Description
Parameter
22
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Service definitions
Chapter 5
LD-OEM/LD-LRS
5.2.6
SET_FILTER
Request command 0209h:
Sets the filter configuration
Type
Meaning
FILTERITEM
WORD
0001h Nearfield suppression
FILTERDATA
WORD[k]
Filter parameters, depend on Filteritem
Table 5-26: Configuration Services: SET_FILTER (request command)
Description
Parameter
Configurations parameters for nearfield suppression, FILTERITEM = 0001h:
Parameter
FILTERDATA[0]
Meaning
0000h Nearfield suppression OFF
0001h Nearfield suppression ON
Table 5-27: Configuration Services: configuration parameters for nearfield suppression
LD-OEM/LD-LRS response 8209h:
Response of LD-OEM/LD-LRS
Type
Meaning
FILTERITEM
WORD
Filter item:
If this values FFFFh, the requested item was invalid and
the FILTERDATA field is empty
FILTERDATA
WORD[k]
Filter parameters, depend on Filteritem
Table 5-28: Response to SET_FILTER
Description
Parameter
5.2.7
SET_FUNCTION
Request command 020Ah:
Assigns a measurement function to an angle range
Type
Meaning
SECTORNUM
WORD
Number of the measurement sector.
Valid values: 0 to 7 (first sector is always 0)
SECTORFUNC
WORD
Measurement function for the sector.
0: Not initialised (always needed for last sector)
1: No measurement
2: Reserved
3: Normal measurement
4: Reference measurement
SECTORSTOP
WORD
Last angle of the current sector.
NOTE: This Angle is given in 1/16 degrees. It must be an
integer multiple of the angle step, i.e. of the angle between
two laser pulses otherwise this sector is unreachable for the
measurement kernel.
Example: SECTORSTOP for sector 0 to 180°:
(180° minus 1 angle step) x 16. Next sector starts at 180°
(SECTORSTOP + 1 angle step)
FLASHFLAG
WORD
1: The sector configuration is written to flash memory
Else: The sector configuration stays temporary and is lost
after a reset.
Table 5-29: Configuration Services: SET_FUNCTION (request command)
Description
Parameter
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
23
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
Note – If SECTORNUM > 7, SECTORNUM will be set to 7.
– If SECTORFUNC has an invalid number, SECTORFUNC will be set to 0 (Not Initialized).
– If SECTORSTOP is greater than a full circle (≥ 5,760 steps), SECTORSTOP will be reduced to an angle less than 5,760 steps.
The value SECTORSTOP is not checked relating to the fact, if it is an integer multiple
of the angle step. The service TRANS_MEASURE will do this.
A Sector (SECTORNUM) is defined by its function (SECTORFUNC) and its end angle
(SECTORSTOP). The chosen function is performed until the end angle has been reached.
Once the end angle has been reached, the defined function is performed for the last time.
After this the measurement kernel switches to the next defined function. Consequently the
start angle of a sector is defined by the end angle of the previous sector. The start angle of
a sector equals the end angle of the previous sector plus the angle step width.
Sectors must be defined in increasing order starting at zero. If N sectors are configured, the
function of sector N+1 must be 0 (
). This is not neccessary, if all 8 sectors are
configured. The following pages show 3 different examples.
Not initialized
24
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 5
Service definitions
LD-OEM/LD-LRS
Example 1:
Supposed the LD-OEM1000/LD-LRS1000 is to be set up for 360° measurement (Fig. 5-1).
(Not suitable for the LD-LRS2100/3100 due to the restricted scan angle of max. 300°).
180°
angle step width: 0.5°
one sector: 0° to 360°
1st angle: 0°
last angle: 359.5°
270°
90°
0°
Fig. 5-1:
SECTORNUM: 1
SECTORFUNC: 0
(not initialized)
SECTORNUM: 0
SECTORFUNC: 3 (normal measurement)
SECTORSTOP: 359.5° (= (360° minus 0.5°) x 16)
Example 1: Using the whole range as one sector for measurement (top view)
In this case two sectors need to be defined: The first sector is sector 0, which is defined as
Normal measurement. Assumed the defined stop angle is 0° and the angle step width is
0.5°, the first measurement of the sector is taken at 0.5° and the last measurement is taken at 0°. To get scans starting at 0°, the end angle must be defined as 359.5°(= 5,752/
16)°.
The second sector is sector 1 which must be defined as Not initialized.
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
25
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
Example 2
Scans starting at 90° and ending at 180° shall be taken (Fig. 5-2, Page 26). The angle step
width is 0.5°.
Three sectors need to be defined: one for the measurement area, one for the none measurement area and one as Not initialized. To set this configuration, sector 0 is defined as No
measurement with end angle 89.5° and sector 1 is defined as Normal measurement with
end angle 179.5°. Sector 2 must be defined as Not initialized.
The first sector should be defined as No measurement, because the transmission of the
profile datas starts with sector 0. The transmission of profile data is much more efficient,
when the sensor is not scanning.
:
Explanantion
SECTORNUM: 1
SECTORFUNC: 3
(normal measurement)
SECTORSTOP: 179.5°
(= (180° minus 0.5°) x 16)
180°
270°
90°
SECTORNUM: 0
SECTORFUNC: 1
(no measurement)
SECTORSTOP: 89.5°
(= (90° minus 0.5°) x 16)
Fig. 5-2:
26
angle step width: 0.5°
one sector: 90° to 180°
1st angle: 90°
last angle: 179.5°
0°
SECTORNUM: 2
SECTORFUNC: 0
(not initialized)
SECTORSTOP: 359.5°
(= (360° minus 0.5°) x 16)
Example 2: Using the sector 90° to 180° for measurement (top view)
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 5
Service definitions
LD-OEM/LD-LRS
Example 3
The scan should be done in 2 sectors. Scans starting from 125° to 147° and 270° to 360°
shall be taken (Fig. 5-3). The angle step width is 0.5 . The area from 125 to 147 shall be
used for a reference measurement. The nearfield suppression is on.
Five sectors need to be defined, two for the measurement areas, two for the none measurement areas and one as Not initialized. To set this configuration, sector 0 is defined as No
measurement with end angle 124.5 and sector 1 is defined as Normal measurement with
end angle 146.5 . Sector 2 must be defined as No measurement with end angle 269.5
Sector 3 must be defined as Normal measurement with end angle 359.5 Sector 4 must
be defined as Not initialized.
:
°
°
°
°
°
°.
°.
180°
SECTORNUM: 1
SECTORFUNC: 4
(reference measurement)
SECTORSTOP: 146.5°
(= (147° minus 0.5°) x 16)
270°
90°
SECTORNUM: 0
SECTORFUNC: 1
(no measurement)
SECTORSTOP: 124.5°
(= (125° minus 0.5°) x 16)
Fig. 5-3:
SECTORNUM: 2
SECTORFUNC: 1
(no measurement)
SECTORSTOP: 269.5°
(= (270° minus 0.5°) x 16)
0°
SECTORNUM: 4
SECTORFUNC: 0
(not initialized)
SECTORNUM: 3
SECTORFUNC: 3
(normal measurement)
SECTORSTOP: 359.5°
(= (360° minus 0.5°) x 16)
First sector:
angle step width: 0.5°
sector: 125° to 147°
1st angle: 125°
last angle: 146.5°
Second sector:
angle step width: 0.5°
sector: 270° to 360°
1st angle: 270°
last angle: 359.5°
Example 3: Using two sectors (125° to 147°) and (270° to 360°) for measurement (top view)
Explanantion
8011576/0000/2006-04-10
The first sector should be defined as No measurement, because the transmission of the
profile datas starts with sector 0. The transmission of profile data is much more efficient,
when the sensor is not scanning.
© SICK AG · Division Auto Ident · Germany · All rights reserved
27
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
LD-OEM/LD-LRS response 820Ah:
Response of LD-OEM/LD-LRS
Type
Meaning
WORD
Number of the measurement sector.
Valid values: 0 to 7
SECTORFUNC
WORD
Measurement function for the sector
SECTORSTOP
WORD
End angle of the sector
Table 5-30: Response to SET_FUNCTION
Description
Parameter
SECTORNUM
The values can differ from the ones which should be set.
The response parameters
,
and
if
or the request ifself were invalid.
SECTORNUM
0xFFFFh
5.2.8
SECTORFUNC
SECTORSTOP
are set to
SECTORNUM
GET_FUNCTION
Request command 020Bh:
Returns the configuration of the declared setcor
Type
Meaning
WORD
Number of the measurement sector.
Valid values: 0 to 7
Table 5-31: Configuration Services: GET_FUNCTION (request command)
Description
Parameter
SECTORNUM
LD-OEM/LD-LRS response 820Bh:
Response of LD-OEM/LD-LRS
Type
Meaning
WORD
Number of the measurement sector.
WORD
Measurement function for the sector
0: Not initialised
1: No measurement
2: Reserved
3: Normal measurement
4: Reference measurement
If activated, the nearfield suppression (see also
Chapter 5.2.6 SET_FILTER, Page 23) will be not
active in this sector.
May be used for a reference measurement or other
measurements in the close area.
SECTORSTOP
WORD
End angle of the sector
Table 5-32: Response to GET_FUNCTION
Description
Parameter
SECTORNUM
SECTORFUNC
The response parameters
,
and
if
or the request ifself were invalid.
SECTORNUM
0xFFFFh
28
SECTORFUNC
SECTORSTOP
are set to
SECTORNUM
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Service definitions
Chapter 5
LD-OEM/LD-LRS
5.3
Measurement Services
5.3.1
Data format
The distance value is represented by a 16-bit binary value with a resolution (step width) of
3.9 mm (1/256 m). The angle is also represented by a 16-bit binary value with a resolution
of 1/16°.
general:
Example:
XX
XX
lower 8 bits
XX
upper 8 bits
XX
distance in m
Fig. 5-4:
0x1324
+
distance in
1/256 m
19 m + (36 x 1/256) m =
19.1406 m
Structure of the 16-bit binary distance values, represented in a WORD
upper 8 bits
lower 8 bits
1/256 m
2/256 m
4/256 m
8/256 m
16/256 m
32/256 m
64/256 m
128/256 m
1m
2m
4m
8m
16 m
32 m
64 m
128 m
Fig. 5-5:
24hex = 36dez
13hex = 19dez
=
=
=
=
=
=
=
=
0.00390625 m
0.0078125 m
0.015625 m
0.03125 m
0.0625 m
0.125 m
0.25 m
0.5 m
Distance resolution of the upper and lower bit blocks
upper 8 bits
lower 8 bits
16 bits
1/16°
Angular resolution by encoder = 5,760 steps
Resolution: 360°/5670 steps = 0.0626° = 1/16°
Minimum step width = 2 steps = 0.125° = 1/8°
Example:
90° = 90 x 16 = 1,440 steps
90°
0°
Fig. 5-6:
8011576/0000/2006-04-10
Angular resolution by the encoder, represented in a WORD
© SICK AG · Division Auto Ident · Germany · All rights reserved
29
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
upper 8 bits
16 bits
lower 8 bits
or
flect
e
r
l
ia
rtific
a
r
o
f
tude
i
l
p
m am
imu
x
a
M
e
litud
p
m
a
echo
m
u
nim
r mi
o
f
d
shol
Thre
typical 70 to 100
Fig. 5-7:
30
typical 600 to 700
Echo amplitude, represented in a WORD
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 5
Service definitions
LD-OEM/LD-LRS
5.3.2
GET_PROFILE
Request command
0301h
:
Requests n profiles of a defined format
Parameter
Type
Meaning
PROFILENUM
WORD
Number of profiles, if it is equals 0 the LD-OEM/LD-LRS
sends profiles continuously, until the user sends the
CANCEL_PROFILE command
PROFILEFORMAT WORD
16-bit array
Table 5-33: Measurement Services: GET_PROFILE (request command)
Description
The definition of the 16-bit array PROFILEFORMAT:
Bit
Meaning
0
Number of the transmitted profile
1
Profile counter
2
Number of Layer
3
Number of Sector
4
Angle step
5
Number of points of the sector
6
Time stamp when the sector starts
7
Start direction of the sector
8
Measured distances
9
Direction of measured distances
10
Echo amplitudes
11
Time stamp when the sector ends
12
End direction of the sector
13
LD-OEM/LD-LRS mode
14
reserved (always 0)
15
reserved (always 0)
Table 5-34: Definition of the 16-bit array of PROFILEFORMAT
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
31
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
LD-OEM/LD-LRS response 8301h:
Response of LD-OEM/LD-LRS
Description
Parameter
CB
*)
**)
**)
Type
PROFILEFORMAT WORD
PROFILEINFO
WORD
0
PROFILESENT
WORD
1
PROFILECOUNT
WORD
2
3
4
5
8
7
8
LAYERNUM
SECTORNUM
DIRSTEP
POINTNUM
TSTART
STARTDIR
DISTANCE-n
WORD
WORD
WORD
WORD
WORD
WORD
WORD
Meaning
Format of the following profile
Most significant byte: number of layers (always 1)
Least significant byte: number of sectors
Number of the profiles sent to the host. Counts from 0 to PROFILENUM.
If PROFILENUM = 0, a 16-bit counter counts continuously.
Number of the profiles gathered by the LD-OEM/LD-LRS.
16-bit counter that counts continuously.
Number of the layer (always 0)
Number of the sector
Angle step in (degree x 16)
Number of points of the sector
Time stamp when the sector starts at the first point in (ms)
Start direction of the sector in (degree x 16)
Measured distance (m x 256)
9
10
DIRECTION-n
ECHO-n
WORD
WORD
11
12
13
TEND
ENDDIR
SENSTAT
WORD Time stamp of the last point in (ms)
WORD End direction in (degree x 16)
DWORD Status of LD-OEM/LD-LRS
*) CB = Corresponding Bit in
s
i
Direction in (degree x 16)
Echo amplitude
a
t
a
d
s
i
h
T
h
c
a
e
h
t
i
w
t
n
e
s
n
a
c
S
r
o
t
c
e
s
h
c
a
e
t
n
i
o
p
e
c
n
a
t
is
d
h
t
i
w
t
n
e
s
s
i
a
t
a
d
s
i
h
T
r
e
y
a
l
h
c
a
e
h
t
i
w
t
n
e
s
s
i
h
c
a
e
h
it
w
t
n
e
s
s
i
a
t
a
d
s
i
h
T
a
t
a
d
s
i
h
T
PROFILEFORMAT
**) always sent
Table 5-35: Response to GET_PROFILE
The response contains – beside PROFILEFORMAT and PROFILEINFO, which are always
sent – only the parameters requested in PROFILEFORMAT.
If the request command is invalid (no request parameters or PROFILEFORMAT =
0x0000h), the command is ignored and exactly one response, containing no parameters, is
sent. No profiles are sent. If a measured point is invalid, DISTANCE is set to 0000h.
5.3.3
CANCEL_PROFILE
Request command 0302h:
Stops the profile output
Parameter
Type
Meaning
Table 5-36: Measurement Services: CANCEL_PROFILE (request command)
Description
LD-OEM/LD-LRS response 8302h:
Response of LD-OEM/LD-LRS
Parameter
Type
Meaning
Table 5-37: Response to CANCEL_PROFILE
Description
32
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Service definitions
Chapter 5
LD-OEM/LD-LRS
Response of LD-OEM/LD-LRS
SENSTAT
DWORD
Status of LD
Table 5-37: Response to CANCEL_PROFILE
Description
The CANCEL_PROFILE command does not abort the transmission of the currently transmitted profile. Thus, the transmission of the current profile is completed before the
CANCEL_PROFILE command terminates transmission of profiles.
5.4
Working Services
5.4.1
DO_RESET
Request command 0401h:
The LD-OEM/LD-LRS enters a reset sequence
Type
Meaning
RESETLEVEL
WORD
0000h Reset (CPU reinitialized)
0001h Restart (CPU not reinitialized)
0002h Halt application and enter IDLE state
others reserved
Table 5-38: Working Services: DO_RESET (request command)
Description
Parameter
LD-OEM/LD-LRS response 8401h:
Response of LD-OEM/LD-LRS
Type
Meaning
RESETLEVEL
WORD
The same value as in the Request command
Table 5-39: Response to DO_RESET
Description
Parameter
If RESETLEVEL 0000h or 0001h is requested, the LD-OEM/LD-LRS transmits the response
to this command, before it enters the reset sequence.
If RESETLEVEL 0002h or 0010h is requested, the LD-OEM/LD-LRS transmits the response
after executing the command. The LD-OEM/LD-LRS does not respond to any request during
reset and system initialisation.
5.4.2
TRANS_IDLE
Request command 0402h:
Sets the LD-OEM/LD-LRS into the IDLE mode:
the motor of the rotating prism stops and the laser is switched off
Parameter
Type
Meaning
Table 5-40: Working Services: TRANS_IDLE (request command)
Description
LD-OEM/LD-LRS response 8402h:
Response of LD-OEM/LD-LRS
Type
Meaning
SENSTAT
DWORD
Status of LD-OEM/LD-LRS
Table 5-41: Response to TRANS_IDLE
Description
Parameter
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
33
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
5.4.3
TRANS_ROTATE
Request command 0403h:
Sets the LD-OEM/LD-LRS into the ROTATE mode: the motor starts, when it
is off, and rotates with a speed, defined by REV. The laser is switched off.
Parameter
Type
Meaning
REV
WORD
0
Scanning frequency corresponds to the
configuration parameter
1 to 4 Reserved
5 to 20 Scanning frequency in Hz
Table 5-42: Working Services: TRANS_ROTATE (request command)
Description
LD-OEM/LD-LRS response 8403h:
Response of LD-OEM/LD-LRS
Type
Meaning
SENSTAT
DWORD
Status of LD-OEM/LD-LRS
Table 5-43: Response to TRANS_ROTATE
Description
Parameter
If the request parameter REV is invalid, the LD-OEM/LD-LRS is set to the IDLE mode.
The response to the TRANS_ROTATE command is sent when the rotation frequency is stable
or after a constant time of several seconds.
5.4.4
TRANS_MEASURE
Request command 0404h:
Sets the LD-OEM/LD-LRS into the MEASURE mode: the laser starts with
the next revolution; a request for a profile can be started
Parameter
Type
Meaning
Table 5-44: Working Services: TRANS_MEASURE (request command)
Description
LD-OEM/LD-LRS response 8404h:
Response of LD-OEM/LD-LRS
Type
Meaning
SENSTAT
DWORD
Status of LD-OEM/LD-LRS
ERRORCODE
WORD
0: OK, LD-OEM/LD-LRS measures
1: Maximum laser pulse frequency too high
2: Mean laser pulse frequency too high
3: The sector borders are not configured correctly
4: A sector border is not a whole multiple of the angle
step
Table 5-45: Response to TRANS_MEASURE
Description
Parameter
34
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Service definitions
Chapter 5
LD-OEM/LD-LRS
5.5
Interface routing Services
Interface routing means: a host or application program may attach to one of the available
interfaces in order to have total control over communication via the attached interface. Any
data received by the attached interface is forwarded to the interface that issued the attach
command (the master interface). Data will not be interpreted by the measurement CPU. The
master interface may output data via the interfaces it is attached to.
The interface routing comprises the services COM_ATTACH, COM_DETACH, COM_INIT,
COM_OUTPUT and COM_DATA. Depending on the attached interface, the services
COM_INIT, COM_OUTPUT and COM_DATA differ. So, these three services are defined for
each interface.
Interface routing is only possible for RS 232/RS 422 and CAN.
Normally, the sensor transmits only command responses (after receiving the corresponding
requests). The COM_DATA service is transmitted by the LD-OEM/LD-LRS without request.
5.5.1
COM_ATTACH
Request command 0601h:
Attach an interface; any data which will be received by the attached interface is forwarded to the interface that issued this command. The attached
interface will be deinitialized.
Parameter
Type
Meaning
INTERFACE_ID
WORD
1: RS 232/RS 422
2: CAN
Table 5-46: Interface routing Services: COM_ATTACH (request command)
Description
LD-OEM/LD-LRS response 8601h:
Response of LD-OEM/LD-LRS
Type
Meaning
INTERFACE_ID
WORD
See command request
RESULT
WORD
0x0000h: COM_ATTACH successful
0xFFFFh: COM_ATTACH not successful
Table 5-47: Response to COM_ATTACH
Description
Parameter
5.5.2
COM_DETACH
Request command 0602h:
Detaches an attached interface; the measurement module becomes again
the source and destination for data transferred via the detached interface
Parameter
Type
Meaning
INTERFACE_ID
WORD
as defined in COM_ATTACH service
Table 5-48: Interface routing Services: COM_DETACH (request command)
Description
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
35
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
LD-OEM/LD-LRS response
8602h
:
Response of LD-OEM/LD-LRS
Type
Meaning
INTERFACE_ID
WORD
as defined in COM_ATTACH service
RESULT
WORD
0x0000h: COM_DETACH successful
0xFFFFh: COM_DETACH not successful
Table 5-49: Response to COM_DETACH
Description
Parameter
5.5.3
COM_INIT (RS 232/RS 422)
Request command
0603h
:
Initializes the RS 232/RS 422 interface
Type
Meaning
INTERFACE_ID
WORD
1 (RS 232/RS 422)
BAUDRATE
WORD
1:
4,800 bd
2:
9,600 bd
3:
19,200 bd
4:
38,400 bd
5:
57,600 bd
6:
115,200 bd
PARITY
WORD
0: No parity
1: Even parity
2: Odd parity
STOPBIT
WORD
1: One stop bit
2: Two stop bits
CHARLENGTH
WORD
Number of bits per character (1 to 8 bit)
Table 5-50: Interface routing Services: COM_INIT (RS 232/RS 422) (request command)
Description
Parameter
LD-OEM/LD-LRS response
8603h
:
Response of LD-OEM/LD-LRS
Type
Meaning
INTERFACE_ID
WORD
1 (as defined in COM_ATTACH service)
RESULT
WORD
0x0000h: COM_INIT successful
0xFFFFh: COM_INIT not successful
Table 5-51: Response to COM_INIT (RS 232/RS 422)
Description
Parameter
36
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Service definitions
Chapter 5
LD-OEM/LD-LRS
5.5.4
COM_INIT (CAN)
Request command 0603h:
Initializes the attached interface with the baud rate and the filter for the
messages to receive
Parameter
Type
Meaning
INTERFACE_ID
WORD
2 (CAN)
BAUDRATE
WORD
1: 10 kbit/s
2: 20 kbit/s
3: 50 kbit/s
4: 125 kbit/s
5: 250 kbit/s
6: 500 kbit/s
7: 1 Mbit/s
IDRX_HIGH
WORD
Receive message identifier, upper part.
Bit 15: 0: standard identifier
1: extended identifier
Bit 14: Reserved
Bit 13: Reserved
In case of extended identifier, Bit 12 to 0 represent
Bit 28 to 16 of the extended identifier
IDRX_LOW
WORD
Receive message identifier, lower part.
In case of standard identifier, Bit 10 to 0 represent the
standard identifier.
In case of extended identifier, Bit 15 to 0 represent
Bit 15 to 0 of the extended identifier.
LAM_HIGH
WORD
Local Acceptance Mask, upper part.
In case of extended identifier, Bit 12 to 0 represent the
mask of Bit 28 to 16 of the extended identifier.
LAM_LOW
WORD
Local Acceptance Mask, lower part.
In case of standard identifier, Bit 10 to 0 represent the
mask of the standard identifier.
In case of extended identifier, Bit 15 to 0 represent the
mask of Bit 15 to 0 of the extended identifier.
Table 5-52: Interface routing Services: COM_INIT (CAN) (request command)
Description
Incoming messages are compared with the identifier specified in MSGID_HIGH and
MSGID_LOW, omitting the bits specified in LAM_HIGH and LAM_LOW. If the identifier
matches, the message is sent to the master interface by the COM_DATA service.
If the acceptance mask is set to 0x00000000h, only messages with exactly the same identifier like IDRX_HIGH/LOW are accepted. An acceptance mask of 0x1FFFFFFFh respective
0x000007FFh allows all messages to be received.
LD-OEM/LD-LRS response 8603h:
Response of LD-OEM/LD-LRS
Type
Meaning
INTERFACE_ID
WORD
2 (CAN)
RESULT
WORD
0x0000h: COM_INIT successful
0xFFFFh: COM_INIT not successful
Table 5-53: Response to COM_INIT (CAN)
Description
Parameter
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
37
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
5.5.5
COM_OUTPUT (RS 232/RS 422)
Request command
0604h
:
Output data to the RS 232/RS 422 interface
Type
Meaning
INTERFACE_ID
WORD
1 (RS 232/RS 422)
CHARS
WORD[0]
Bits 7 to 0 contain the char.
If the defined CHARLENGTH is less than 8 bit, the leading
bits will be ignored.
CHARS
...
...
Table 5-54: Interface routing Services: COM_OUTPUT (RS 232/RS 422) (request command)
Description
Parameter
LD-OEM/LD-LRS response
8604h
:
Response of LD-OEM/LD-LRS
Type
Meaning
INTERFACE_ID
WORD
1 (as defined in COM_ATTACH service)
RESULT
WORD
0x0000h: COM_OUTPUT successful
0xFFFFh: COM_OUTPUT not successful
Table 5-55: Response to COM_OUTPUT (RS 232/RS 422)
Description
Parameter
The command response is send immediatly and indicates, that the first character has been
written to the output buffer.
38
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Service definitions
Chapter 5
LD-OEM/LD-LRS
5.5.6
COM_OUTPUT (CAN)
Request command 0604h:
Output data to an attached interface
Type
Meaning
INTERFACE_ID
WORD
2 (CAN)
NO_OF_MSGS
WORD
Number of the following CAN messages (1 to 128).
A CAN message is composed of the datas MSGID_HIGH,
MSGID_LOW, MSG_LENGTH and DATA[i].
The Number of DATA[ ] words may be less than 4, depending on MSG_LENGTH.
MSGID_HIGH
WORD
Bit 15: 0: standard identifier
1: extended identifier
Bit 14: Reserved
Bit 13: Reserved
In case of extended identifier, Bit 12 to 0 represent
Bit 28 to 16 of the extended identifier
MSGID_LOW
WORD
In case of standard identifier, Bit 10 to 0 represent
eg
the standard identifier.
In case of extended identifier, Bit 15 to 0 represent ass
e
Bit 15 to 0 of the extended identifier.
m
NA
MSG_LENGTH
WORD
Number of bytes to transmit (0 to 8)
C
DATA[0]
WORD
Bit 15 to 8: data byte #1
en
Bit 7 to 0: data byte #2
O
DATA[1]
WORD
Bit 15 to 8: data byte #3
Bit 7 to 0: data byte #4
DATA[2]
WORD
Bit 15 to 8: data byte #5
Bit 7 to 0: data byte #6
DATA[3]
WORD
Bit 15 to 8: data byte #7
Bit 7 to 0: data byte #8
The following messages
Table 5-56: Interface routing Services: COM_OUTPUT (CAN) (request command)
Description
Parameter
LD-OEM/LD-LRS response 8604h:
Response of LD-OEM/LD-LRS
Type
Meaning
INTERFACE_ID
WORD
2 (CAN)
RESULT
WORD
0x0000h: COM_OUTPUT successful
0xFFFFh: COM_OUTPUT not successful
Table 5-57: Response to COM_OUTPUT (CAN)
Description
Parameter
The command response is send immediatly and indicates, that the transmission is initiated
successfully.
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
39
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
5.5.7
COM_DATA (RS 232/RS 422)
Request command 0605h:
Forward data that was received on the RS 232/RS 422 interface to the
master interface
Parameter
Type
Meaning
INTERFACE_ID
WORD
1 (RS 232/RS 422)
TIMESTAMP
WORD
Timestamp of the last character of the following data
CHAR
WORD[0]
One received character, right justified
CHAR
...
...
Table 5-58: Interface routing Services: COM_DATA (RS 232/RS 422) (request command)
Description
Note A buffer (size: 64 characters) is filled with the incoming datas. If the buffer is full or if a baud
rate dependent timeout is expired, the COM_DATA service is send.
A BREAK signal forces the LD-OEM/LD-LRS to the IDLE mode. (A DO_RESET with RESETLEVEL = 2 is executed.)
This service is sent by the LD-OEM/LD-LRS. No response.
5.5.8
COM_DATA (CAN)
Request command 0605h:
Forward data that was received on an attached interface to the master
interface
Parameter
Type
Meaning
INTERFACE_ID
WORD
2 (CAN)
TIMESTAMP
WORD
Internal time of the LD-OEM/LD-LRS at reception of the
CAN
message
MSGID_H
WORD
Bit 15: 0: standard identifier
1: extended identifier
Bit 14: Reserved
Bit 13: Reserved
In case of extended identifier, Bit 12 to 0 represent
Bit 28 to 16 of the extended identifier.
MSGID_L
WORD
In case of standard identifier, Bit 10 to 0 represent the
standard identifier.
In case of extended identifier, Bit 15 to 0 represent
Bit 15 to 0 of the extended identifier.
MSG_LENGTH
WORD
Number of bytes to transmit (0 to 8)
DATA[0]
WORD
Bit 15 to 8: data byte #1
Bit 7 to 0: data byte #2
DATA[1]
WORD
Bit 15 to 8: data byte #3
Bit 7 to 0: data byte #4
DATA[2]
WORD
Bit 15 to 8: data byte #5
Bit 7 to 0: data byte #6
DATA[3]
WORD
Bit 15 to 8: data byte #7
Bit 7 to 0: data byte #8
Table 5-59: Interface routing Services: COM_OUTPUT (CAN) (request command)
Description
40
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 5
Service definitions
LD-OEM/LD-LRS
Depending on the length of the received message (MSG_LENGTH), the number of DATA[i]
words may be less than 4.
This service is sent by the LD-OEM/LD-LRS. No response.
5.6
File Services
There is a total amount of 32k x 16-bit flash memory available in the LD-OEM/LD-LRS to
store application specific configuration data. Data can be stored in a file, which is identificated by a unique ID. Valid File IDs are
.
The following services provide access to this memory resource.
0100h to FFFFh
5.6.1
DIR
Request command 0701h:
Lists the stored files in the flash memory
Type
Meaning
Table 5-60: File Services: DIR (request command)
Description
Parameter
-
-
LD-OEM/LD-LRS response 8701h:
Response of LD-OEM/LD-LRS
Type
Meaning
Available memory space in terms of WORDs
File ID
Table 5-61: Response to DIR
Description
Parameter
FREE_MEM
WORD
DIR
WORD[n]
The Length n of the
parameter depends on the number of stored files, i.e. the number
of returned
words equals the number of stored files.
DIR
DIR
5.6.2
SAVE
Request command 0702h:
Description
Parameter
FILE_ID
DATA_FILE
Stores data into the flash memory
Type
Meaning
File ID. Valid values:
Data to be stored
WORD
0100 to FFFFh
WORD[n]
n equals the number of words to be stored
Table 5-62: File Services: SAVE (request command)
Note To replace an already existent file, this file must be removed by a DELETE command first.
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
41
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
LD-OEM/LD-LRS response 8702h:
Response of LD-OEM/LD-LRS
Type
Meaning
FILE_ID
WORD
File ID
SAVE_STAT
WORD
0: File saved successfully
1: Not enough memory
2: File already exists
3: Flash failed
4: Invalid file ID or request incorrect
Table 5-63: Response to SAVE
Description
Parameter
If a storage failed (DEL_STAT = 3), the file system may be corrupt or the flash memory may
be defect.
5.6.3
LOAD
Request command 0703h:
Recalls a file
Type
Meaning
FILE_ID
WORD
File ID. Valid values: 0100 to FFFFh
Table 5-64: File Services: LOAD (request command)
Description
Parameter
LD-OEM/LD-LRS response 8703h:
Description
Parameter
FILE_ID
LOAD_STAT
DATA_FILE
Response of LD-OEM/LD-LRS
Type
Meaning
WORD
File ID
WORD
0: File Ok
1: File does not exist
2: Request incorrect (In this case, the response
parameter File_ID has no meaning)
WORD[n]
Data stored
n equals the number of words stored
Table 5-65: Response to LOAD
5.6.4
DELETE
Request command 0704h:
Description
Parameter
Deletes a file
Type
WORD
Meaning
FILE_ID
File ID. Valid values: 0100 to FFFFh.
It is the users responsibility to make sure that there are
no duplicate IDs in the system.
Table 5-66: File Services: DELETE (request command)
42
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Chapter 5
Service definitions
LD-OEM/LD-LRS
LD-OEM/LD-LRS response
8704h
:
Response of LD-OEM/LD-LRS
Type
Meaning
DEL_STAT
WORD
0: File deleted successfully
1: File does not exist
2: Delete failed
3: Invalid File_ID or request incorrect
Table 5-67: Response to DELETE
Description
Parameter
If a deletion failed (DEL_STAT = 2), the file system may be corrupt or the flash memory is
defect.
5.7
Monitor Services
Monitor services are used to get LD-OEM/LD-LRS data (scan profiles) separately from the
running application.
Depending on the monitor service; the data to be monitored may be sent without prior request.
5.7.1
MONITOR_RUN
Request command
0801h
:
Enables/disables monitor services. Monitor services are assigned to the
interface that issued the enable command and can't be requested via
other interfaces until the monitor services are disabled again
Parameter
Type
Meaning
MON_RUN
WORD
0:
Monitor functions disabled
else: Monitor functions enabled
Table 5-68: Monitor Services: MONITOR_RUN (request command)
Description
LD-OEM/LD-LRS response
8801h
:
Response of LD-OEM/LD-LRS
Type
Meaning
WORD
0x0000h: Request successful
RESULT
0xFFFFh: Request not successful
Table 5-69: Response to MONITOR_RUN
Description
Parameter
5.7.2
MONITOR_PROFILE_LOG
Request command
0802h
:
Enables/disables profile logging. If profile logging is enabled, profiles are
transferred to the monitor application whenever they are sent to the application module respective host application.
Parameter
Type
Meaning
MON_PROFILE_LOG WORD
0: disable profile logging
else: enable profile logging
Table 5-70: Monitor Services: MONITOR_PROFILE_LOG (request command)
Description
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
43
Chapter 5
Telegram Listing
Service definitions
LD-OEM/LD-LRS Laser Measurement Systems
Profiles are sent using the response service code of the GET_PROFILE service; the profile
format is the same as commanded in the GET_PROFILE service request that was issued by
the application.
LD-OEM/LD-LRS response 8802h:
Response of LD-OEM/LD-LRS
Type
Meaning
WORD
0x0000h: Request successful
RESULT
0xFFFFh: Request not successful
Table 5-71: Response to MONITOR_PROFILE_LOG
Description
Parameter
5.8
Special Services
5.8.1
SERVICE_FAILURE
If an illegal service request is sent to the LD-OEM/LD-LRS, the device responses with a
SERVICE_FAILURE instead of the usual response.
LD-OEM/LD-LRS response FF00h:
Response of LD-OEM/LD-LRS
Type
Meaning
Reserved
DWORD
Reserved (always 0)
DWORD
LD-OEM/LD-LRS mode value. See Section 6.3, Page 47
SENSTAT
Table 5-72: Response to an illegal service request
Description
Parameter
44
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Sensor modes
Chapter 6
LD-OEM/LD-LRS
6
Sensor modes
6.1
Description of the sensor modes
6.1.1
IDLE mode
In the IDLE mode the motor and the laser module are off. A TRANS_ROTATE command sets
the sensor into ROTATE mode.
The IDLE MODE is also entered when a TRANS_IDLE command has been received. If the LDOEM/LD-LRS is in the ROTATE mode when the TRANS_IDLE command is received, the device is forced into IDLE mode.
6.1.2
ROTATE mode
The motor of the rotating prism rotates. The rotating frequency is monitored by the LD-OEM/
LD-LRS. The laser is off.
A TRANS_IDLE command sets the LD-OEM/LD-LRS into the IDLE mode, a TRANS_MEAS
command into the MEASURE mode.
6.1.3
MEASURE mode
The motor of the rotating prism rotates and is monitored by the LD-OEM/LD-LRS. The laser
pulses in the defined zones. The GET_PROFILE command is available.
A TRANS_ROTATE command sets the LD-OEM/LD-LRS into the ROTATE mode.
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
45
Chapter 6
Sensor modes
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
6.2
Availability of the service commands
The following tables show the availability of the service commands. If a service is requested,
which is not available in this mode, the LD-OEM/LD-LRS sends the SERVICE_FAILURE response.
Service Group
Service
Status Services
IDLE
mode
ROTATE
mode
MEASURE
mode
IDLE
mode
ROTATE
mode
MEASURE
mode
GET_IDENTIFICATION
GET_STATUS
GET_SIGNAL
SET_SIGNAL
REGISTER_APPLICATION
Table 6-1: Availability of the service commands: Status Services
Service Group
Service
Configuration
Services
X
X
X
X
X
X
X
X
X
SET_CONFIG
X
GET_CONFIG
X
SET_SYNC_ABS
X
SET_SYNC_REL
X
GET_SYNC_CLOCK
X
SET_FILTER
X
SET_FUNCTION
X
GET_FUNCTION
X
Table 6-2: Availability of the service commands: Configuration Services
Service Group
Service
Measurement
Services
Service
ROTATE
mode
MEASURE
mode
IDLE
mode
ROTATE
mode
MEASURE
mode
Working Services DO_RESET
X
TRANS_IDLE
X
TRANS_ROTATE
X
TRANS_MEASURE
Table 6-4: Availability of the service commands: Working Services
46
© SICK AG · Division Auto Ident · Germany · All rights reserved
X
X
IDLE
mode
GET_PROFILE
CANCEL_PROFILE
Table 6-3: Availability of the service commands: Measurement Services
Service Group
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
8011576/0000/2006-04-10
Telegram Listing
Sensor modes
Chapter 6
LD-OEM/LD-LRS
Service Group
Service
IDLE
mode
Interface Routing COM_ATTACH
X
Services
COM_DETACH
X
COM_INIT
X
COM_OUTPUT
X
COM_DATA
X
Table 6-5: Availability of the service commands: Interface Routing Services
Service Group
Service
File Services
DIR
SAVE
LOAD
DELETE
Table 6-6: Availability of the service commands: File Services
Service Group
Service
X
X
MEASURE
mode
X
X
IDLE
mode
ROTATE
mode
MEASURE
mode
IDLE
mode
ROTATE
mode
MEASURE
mode
X
X
X
X
Monitor Services MONITOR_RUN
X
MONITOR_PROFLIE_LOG
X
Table 6-7: Availability of the service commands: Monitor Services
6.3
ROTATE
mode
X
X
X
X
Sensor mode values
The sensor mode value SENSTAT is a DWORD type. The following table defines the coding
of SENSTAT.
Only bits 0 to 7 are valid. Bits 8 to 32 are for future use.
Bit
Number of bits
0 to 3
4
4 to 7
4
8 to 31
24
Table 6-8: Sensor mode values
8011576/0000/2006-04-10
Function
Working mode
1h:
IDLE Mode
2h:
ROTATE mode
3h:
MEASURE mode
4h:
ERROR mode
5 to Fh: Reserved
Motor mode
0h:
Motor ok
1 to 8h: Reserved
9h:
Motor spin to high
4h:
Motor spin to low
Bh:
Motor stops or coder error
C to Fh: Reserved
Reserved
© SICK AG · Division Auto Ident · Germany · All rights reserved
47
Chapter 7
Examples for user protocol services
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
7
Examples for user protocol services
This chapter shows some simple examples how service commands are build on the
RS 232/422, CAN and Ethernet interfaces.
7.1
RS 232/422 interface
7.1.1
Short user protocol frame
General settings
Sensor ID: 16 (= 10h), HOST ID: 20 (= 14h)
The intention is to read the status of the LD-OEM/LD-LRS. The corresponding request
comand (= service code) is 0102h. The user protocol frame of the service is:
Service code
Data
0102h
(no data)
For serial communication, the frame must be extented to a single interface packet:
SID/DID
1410h
LEN
0003h
User protocol frame packet
0000h
CRC
0102h
CRC 16
The hexadecimal numbers are coded as ASCII caracters, one WORD consists of 4 characters. To transmit the service via the interface, it has to be packed into the following packet:
Byte no.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
48
Meaning
STX
SID
SID
DID
DID
LEN
LEN
LEN
LEN
HEADER
HEADER
HEADER
HEADER
COMMAND
COMMAND
COMMAND
COMMAND
CRC
CRC
CRC
CRC
ETX
Value
02h
31h (“1“)
34h (“4“)
31h (“1“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
33h (“3“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
31h (“1“)
30h (“0“)
32h (“2“)
CRC 16
CRC 16
CRC 16
CRC 16
03h
© SICK AG · Division Auto Ident · Germany · All rights reserved
lo
co
to
rp
re
su
e
m
raf
te
kc
ap
e
m
raf
te
kc
ap
ec
arf
ten
i
8011576/0000/2006-04-10
Telegram Listing
Examples for user protocol services
Chapter 7
LD-OEM/LD-LRS
The LD-OEM/LD-LRS answers as followed:
Byte no.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
Meaning
STX
SID
SID
DID
DID
LEN
LEN
LEN
LEN
HEADER
HEADER
HEADER
HEADER
USERSERVICE
USERSERVICE
USERSERVICE
USERSERVICE
SENSTAT
SENSTAT
SENSTAT
SENSTAT
SENSTAT
SENSTAT
SENSTAT
SENSTAT
CRC
CRC
CRC
CRC
ETX
Value
02h
31h (“1“)
30h (“0“)
31h (“1“)
34h (“4“)
30h (“0“)
30h (“0“)
30h (“0“)
35h (“5“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
38h (“8“)
31h (“1“)
30h (“0“)
32h (“2“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
31h (“1“)
CRC 16
CRC 16
CRC 16
CRC 16
03h
The hexadecimal numbers are coded as ASCII caracters, one WORD consists of 4 characters. The decoded service after the transmission via the serial interface is:
SID/DID
1014h
LEN
0005h
User protocol frame packet
0000h
8102h
0000h
0001h
CRC
CRC 16
The answer is SENSTAT = 1 (idle mode).
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
49
Chapter 7
Examples for user protocol services
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
7.1.2
Long user protocol frame
A long user protocol frame must be divided into several packets. The length of the packets
depends on the used interface.
Example: Sensor response to a GET_PROFILE service
Response command Profile data (500 WORDS)
8301h
Data (0 to 499)
The SID is 10h, because the LD-OEM/LD-LRS sends the response. Thus, the DID is 14h.
The response must be divided into 5 interface packets for the interface. The first packet
holds the sequence flag 0xFFFF and the packet ID 5. The following interface packets counts
the packet ID down. The CRC value must be calculated for each interface packet.
1st interface packet
SID/DID
LEN
1014h
007Eh
Seq. flag
User Protocol Frame Packet
Packet ID Data
Profile Data (0 to 122)
User protocol frame part 1
CRC
FFFFh
0005h
xxxxh
Packet ID
Data
Profile Data (123 to 246)
<- User protocol frame part 2 ->
xxxxh
Packet ID
Data
Profile Data (247 to 370)
<- User protocol frame part 3 ->
CRC
xxxxh
Packet ID
Data
Profile Data (371 to 494)
<- User protocol frame part 4 ->
CRC
xxxxh
Packet ID
Data
CRC
2nd interface packet
SID/DID
1014h
LEN
007Eh
0004h
CRC
3rd interface packet
SID/DID
1014h
LEN
007Eh
0003h
4th interface packet
SID/DID
1014h
LEN
007Eh
0002h
5th interface packet
SID/DID
1014h
LEN
007Eh
0001h
Profile Data (495 to 499)
<- User protocol frame part 5 ->
xxxxh
Note All interface packets must be ASCII-coded enclosed by STX and ETX.
50
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Examples for user protocol services
Chapter 7
LD-OEM/LD-LRS
7.1.3
Test sequence to check an RS 232/422 connection
General settings
Sensor ID: 16 (= 10h), HOST ID: 20 (= 14h)
The intention is to read the configuration of the RS 232/422 data interface. The user protocol frame of the service GET_CONFIG is:
Meaning
User protocol frame
Request command
CONFIGITEM
0202h
0001h
For serial communication, the frame must be extented to a single interface packet:
SID/DID
1410h
LEN
0004h
User protocol frame packet
0000h
0202h
0001h
CRC
2BBCh
The hexadecimal numbers are coded as ASCII caracters, one WORD consists of 4 characters. To transmit the service via the interface, it has to be packed into the following packet:
Byte no.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Meaning
STX
SID
SID
DID
DID
LEN
LEN
LEN
LEN
HEADER
HEADER
HEADER
HEADER
COMMAND
COMMAND
COMMAND
COMMAND
CONFIGITEM
CONFIGITEM
CONFIGITEM
CONFIGITEM
CRC
CRC
CRC
CRC
ETX
Value
02h
31h (“1“)
34h (“4“)
31h (“1“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
34h (“4“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
32h (“2“)
30h (“0“)
32h (“2“)
30h (“0“)
30h (“0“)
30h (“0“)
31h (“1“)
32h (“2“)
42h (“B“)
42h (“B“)
43h (“C“)
03h
If the RS 232/422 interface is set on the default settings, the LD-OEM/LD-LRS answers as
followed:
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
51
Chapter
7
Examples for user protocol services
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
Byte no.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
Meaning
Value
STX
SID
SID
DID
DID
LEN
LEN
LEN
LEN
HEADER
HEADER
HEADER
HEADER
USERSERV
USERSERV
USERSERV
USERSERV
CONFIGITEM
CONFIGITEM
CONFIGITEM
CONFIGITEM
CONFIGDATA 0
CONFIGDATA 0
CONFIGDATA 0
CONFIGDATA 0
CONFIGDATA 1
CONFIGDATA 1
CONFIGDATA 1
CONFIGDATA 1
CONFIGDATA 2
CONFIGDATA 2
CONFIGDATA 2
CONFIGDATA 2
CONFIGDATA 3
CONFIGDATA 3
CONFIGDATA 3
CONFIGDATA 3
CRC
CRC
CRC
CRC
ETX
02h
31h (“1“)
30h (“0“)
31h (“1“)
34h (“4“)
30h (“0“)
30h (“0“)
30h (“0“)
38h (“8“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
38h (“8“)
32h (“2“)
30h (“0“)
32h (“2“)
30h (“0“)
30h (“0“)
30h (“0“)
31h (“1“)
30h (“0“)
30h (“0“)
30h (“0“)
36h (“6“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
30h (“0“)
31h (“1“)
30h (“0“)
30h (“0“)
30h (“0“)
38h (“8“)
32h (“2“)
31h (“1“)
64h (“d“)
37h (“7“)
03h
After decoding, the CONFIGDATA indicates:
CONFIGDATA 0 = 115,200 bd
52
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Examples for user protocol services
Chapter 7
LD-OEM/LD-LRS
CONFIGDATA 1 = 0 (no parity)
CONFIGDATA 2 = 1 (1 stop bit)
CONFIGDATA 3 = 8 (8 data bits, fixed)
7.2
CAN interface
7.2.1
Short data structure of CAN interface
The user protocol frame contains only two WORDS, so the command fits into one CAN
message.
PACKET ID
0000h
DID
0010h
User protocol frame
0202h
0001h
The length of the CAN message is found in the DLC field of the CAN message. The SID is
coded in the CAN identifier of the host. The CAN identifiers, which will be accepted by the
LD-OEM/LD-LRS, are set with the user service SET_CONFIG.
Format of the 1st UPF packet of a packet sequence
PACKET Header
WORD
Sequence flag
FFFFh
WORD
WORD
Packet ID
Reserved
0002h to FFFFh 0
PACKET Data
DID
1 to FFh
WORD
Format of the following UPF packets of a packet sequence
PACKET Header
WORD
Packet ID
0001h to FFFEh
PACKET Data
max. 3 WORDS
Sequence Flag: Indication of the begin of a set of data blocks.
Packet Header: Identification of a packet. Starts with a number that represents the
total amout of packets. The next packet will be packet number minus 1
Exceptional case:
If an user protocol frame entirely fits into a single packet (UPF packet contains max. 2
WORDS data); the sequence flag is omitted and the packet ID has the value 0.
Format of a single packet sequence:
PACKET Header
WORD
Packet ID
0000h
8011576/0000/2006-04-10
WORD
Reserved
0
PACKET Data
DID
1 to FFh
max. 2 WORDS
© SICK AG · Division Auto Ident · Germany · All rights reserved
53
Chapter 7
Examples for user protocol services
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
7.2.2
Long user protocol frame
The example response must be divided into 167 interface packets for the CAN interface.
The first packet holds the sequence flag 0xFFFF and the packet ID 167.
The following interface packets counts the packet ID down.
1st UPF packet
Sequence flag
FFFFh
Packet ID
00A7h
DID
0014h
Profile data
Data (0)
2nd UPF packet
Packet ID
00A6h
Profile data
Data (1 to 3)
3rd UPF packet
to
165th UPF packet
166th UPF packet
Packet ID
0002h
Profile data
Data (496 to 498)
167th UPF packet
Packet ID
0001h
7.2.3
Profile data
Data (499)
Test sequence to check a CAN connection
Setup with SOPAS configuration software:
– Sensor ID:
0x10
– Host ID Base:
0x2A8
– Host ID Mask:
0x003
– Sensor ID Base: 0x700
– Broadcast ID:
0x300
Typical stucture of a message from the Host to the LD-OEM/LD-LRS:
CAN Identifier
Data Length Code
User Data = UPF Packet (up to 8 bytes = 4 WORDS)
The identifier of the Host is coded as:
TxHostCanId = TxHostCanBaseId BITOR SID
The Host ID Base is logically linked to the address of the LD-OEM/LD-LRS.
54
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Examples for user protocol services
Telegram Listing
Chapter 7
LD-OEM/LD-LRS
Example
Host ID Base: 0x2A8
Host ID:
0x00
A Logical OR results in the identifier 0x2A8.
:
Message Host to LD-OEM/LD-LRS:
Identifier Length of data block User data
02h A8h 06h
The user data for the request of the status is 01 02h
Packet ID Reserved
00h 00h 00h
DID from LD-OEM/LD-LRS
10h
Get_Status
01h
02h
Note No sequence flag, due to exception: only 2 data words
Answer of the LD-OEM/LD-LRS:
Identifier
Length of data block
User data
The identifier of the LD-OEM/LD-LRS is coded as:
TxSensorCanId = TxSensorCanBaseId BITOR SID
That means the sensor ID Base is logically linked to the address of the LD-OEM/LD-LRS.
Example:
Sensor ID Base: 0x700
Sensor ID:
0x10
A Logical OR results in the identifier 0x710
The LD-OEM/LD-LRS answers by 2 packets, because the answer exceeds the maximum of
8 bytes (restricted by the CAN interface):
LD-OEM/LD-LRS to Host: 1st interface packet
Identifier Length of data block User data
07h 10h 08h
Information (USERDATA) of the LD-OEM/LD-LRS according to the telegram listing
Sequence flag Packet ID
FFh
FFh
00h
02h
8011576/0000/2006-04-10
Reserved DID from Host Response to Get_Status
00h
00h
81h
02h
© SICK AG · Division Auto Ident · Germany · All rights reserved
55
Chapter 7
Examples for user protocol services
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
LD-OEM/LD-LRS to Host: 2nd interface packet
Identifier Length of data block User data
07h 10h 06h
Information (USERDATA) of the LD-OEM/LD-LRS:
Packet ID DWORD for status e.g. Idle
00h 01h 00h
00h
00h
01h
7.3
Ethernet interface
7.3.1
Data structure via Ethernet Interface for realtime measurement
The communication protocol follows the TCP/IP standard. The transferred data are automatically splitted up into multiple packets by the ethernet controller if necessary. For the
programmer this is not relevant. On the receiving end the individual packets are automatically collected and put into the correct sequential order.
The connection will be established via the Port 49152.
UPF = UPF Packet
Service
Service
Code
Data
TCP Payload = Interface Packet
STX
Fig. 7-1:
MRK
LEN
Data
CS
Ethernet: Structure of the UPF packet in the User Service Protocol
STX "Start of Text", will be transferred as a single byte 0x02.
MRK Definition of the transmission format "USP"= 0x55, 0x53,0x50 (3 Bytes).
LEN UPF-Length = the number of the following bytes in <data>, coded as 32 Bit integer
CS
56
(four bytes) without leading sign, the MSB (most significant byte ) must be transmitted first of all.
Checksum (single byte), calculated as exclusive-or-relation of all bytes contained in
"Data".
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Examples for user protocol services
Chapter 7
LD-OEM/LD-LRS
7.3.2
Example
Fig. 7-2:
8011576/0000/2006-04-10
Test sequence to check a Ethernet connection
: Request for status
Ethernet: Request by the PC/answer of the LD-OEM/LD-LRS to status request
© SICK AG · Division Auto Ident · Germany · All rights reserved
57
Maximum data throughput
Chapter 8
Telegram Listing
LD-OEM/LD-LRS Laser Measurement Systems
8
Maximum data throughput
The following tables show the limits and maximum possible data througputs of the three onboard interfaces of the LD-OEM/LD-LRS.
The used unit is 1 Word = 2 bytes = 16 bits.
Assumed is a host computer which is directly connected to the LD-OEM/LD-LRS (peer-topeer). The host computer must be fast enough to fetch all data from the receiving interface.
8.1
Data throughput at usage of the User Service Protocols
Interface
Format
Net rate of Payload
RS 232/422
(115,200 bd)
CAN
(1Mbit/s)
ASCII
92 kbit/s
approx. 11.5 kbyte/s
577 kbit/s
approx. 72 kbyte/s
Ethernet
(10 Mbit/s)
Binary
SPI (internal)
Binary
Binary
Overhead
Framing USP
Net rate USP Data
5 words per
125 data words
1 words per
3 data words
approx. 5.5 kbyte/s
approx. 200 kbyte/s
9 Byte per packet
> 110 Kbyte/s
approx. 1 Mbit/s
–
Net rate USP Data
(Words per Scan rate)
approx. 8 kbyte/s
58 to 110 kbyte/s
depending on sector size
Table 8-1: Data throughput of LD-OEM/LD-LRS data interfaces if User Service Protocols are used
8.2
550 words at 5 Hz
275 words at 10 Hz
3,800 words at 5 Hz
1,900 words at 10 Hz
950 words at 20 Hz
20,000 words at 5 Hz
10,000 words at 10 Hz
5,000 words at 20 Hz
> 5,800 words at 5 Hz
> 2,900 words at 10 Hz
Examples of LD-OEM/LD-LRS configurations for real time
transmission
The scan area is the sum of all active sectors.
General limits:
– Maximum average pulse rate: 10,800 Hz
– Pulse-to-pulse: 14,400 Hz
– Max. data words per scan: 2,880 (plus header)
8.2.1
Scanning
area
Angular resolution Scanning
frequency
RS 232/422 interface
PROFILEFORMAT
(example)
Words per scan Pulses per second Pulses per second
(average)
(pulse to pulse)
60°
0.125°
5 Hz
0x39FF = Distance
480
60°
0.25°
5 Hz
0x3DFF = Dist + Echo 480
120°
0.25°
5 Hz
0x39FF = Distance
480
180°
0.5°
5 Hz
0x39FF = Distance
360
360°
1°
5 Hz
0x39FF = Distance
360
60°
0.25°
10 Hz
0x39FF = Distance
240
Table 8-2: Data throughput of the RS 232/422 interface depending of the LD-OEM/LD-LRS configuration
58
© SICK AG · Division Auto Ident · Germany · All rights reserved
2,400
1,200
2,400
1,800
1,800
2,400
14,400
7,200
7,200
3,600
1,800
14,400
8011576/0000/2006-04-10
Telegram Listing
Maximum data throughput
Chapter 8
LD-OEM/LD-LRS
8.2.2
Scanning
area
Angular resolution Scanning
frequency
CAN interface
PROFILEFORMAT
(example)
Words per scan Pulses per second Pulses per second
(average)
(pulse to pulse)
180°
0.125°
5 Hz
0x3DFF = Dist + Echo
2,880
270°
0.125°
5 Hz
0x39FF = Distance
2,160
360°
0.1875°
5 Hz
0x39FF = Distance
1,920
360°
0.25°
7 Hz
0x39FF = Distance
1,440
360°
0.375°
9 Hz
0x3DFF = Dist + Echo
1,920
180°
0.25°
10 Hz
0x3DFF = Dist + Echo
1,440
270°
0.25°
10 Hz
0x39FF = Distance
1,080
360°
0.375°
11 Hz
0x39FF = Distance
960
180°
0.5°
20 Hz
0x3DFF = Dist + Echo
720
270°
0.5°
20 Hz
0x39FF = Distance
540
360°
0.75°
20 Hz
0x3DFF = Dist + Echo
960
Table 8-3: Data throughput of the CAN interface depending of the LD-OEM/LD-LRS configuration
8.2.3
Scanning
area
Angular resolution Scanning
frequency
7,200
10,800
9,600
10,080
9,600
7,200
10,800
10,560
7,200
10,800
9,600
14,400
14,400
9,600
10,080
9,600
14,400
14,400
10,560
14,400
14,400
9,600
Ethernet interface/SPI
PROFILEFORMAT
(example)
Words per scan Pulses per second Pulses per second
(average)
(pulse to pulse)
180°
0.125°
5 Hz
0x3DFF = Dist + Echo
2,880
270°
0.125°
5 Hz
0x39FF = Distance
2,160
360°
0.1875°
5 Hz
0x39FF = Distance
1,920
360°
0.25°
7 Hz
0x3DFF = Dist + Echo
2,880
360°
0.375°
10 Hz
0x3DFF = Dist + Echo
1,920
180°
0.25°
10 Hz
0x3DFF = Dist + Echo
1,440
270°
0.25°
10 Hz
0x3DFF = Dist + Echo
2,160
360°
0.375°
11 Hz
0x3DFF = Dist + Echo
1,920
180°
0.5°
20 Hz
0x3DFF = Dist + Echo
720
270°
0.5°
20 Hz
0x3DFF = Dist + Echo
1,080
360°
0.75°
20 Hz
0x3DFF = Dist + Echo
960
Table 8-4: Data throughput of the Ethernet interface/SPI depending of the LD-OEM/LD-LRS configuration
7,200
10,800
9,600
10,080
9,600
7,200
10,800
10,560
7,200
10,800
9,600
14,400
14,400
9,600
10,080
9,600
14,400
14,400
10,560
14,400
14,400
9,600
Additional possibilities compared to the CAN interface are marked in bold.
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
59
Chapter 9
Telegram Listing
Error handling
LD-OEM/LD-LRS Laser Measurement Systems
9
Error handling
9.1
Fatal errors
Red LED lights, communication possible:
The scan head doesn't rotate, although it should. The LD-OEM/LD-LRS switches the laser
automatically off.
Red LED lights, communication not possible:
The internal service management of the LD-OEM/LD-LRS is out of order.
9.2
Service errors
A service request sent with missing or invalid parameters leads to a response, that indicates
in the return value, that the request was invalid. For details see the descriptions of the services.
An invalid command request is answered by a SERVICE_FAILURE (FF00h).
60
© SICK AG · Division Auto Ident · Germany · All rights reserved
8011576/0000/2006-04-10
Telegram Listing
Error handling
Chapter 9
LD-OEM/LD-LRS
Notes:
8011576/0000/2006-04-10
© SICK AG · Division Auto Ident · Germany · All rights reserved
61
8011576/2006-04-10 • 5M/TR <PM6.5/FM7.0/PDF>/VD . Subject to change without notice . The specified product features and technical data do not represent any guarantee . 05 Aft int56
Australia
Phone +61 3 9497 4100
1800 33 48 02 – tollfree
E-Mail [email protected]
Belgium/Luxembourg
Phone +32 (0)2 466 55 66
E-Mail [email protected]
Brasil
Phone +55 11 5091-4900
E-Mail [email protected]
Ceská Republika
Phone +420 2 57 91 18 50
E-Mail [email protected]
China
Phone +852-2763 6966
E-Mail [email protected]
Danmark
Phone +45 45 82 64 00
E-Mail [email protected]
Deutschland
Phone +49 (0)2 11 53 01-270
E-Mail [email protected]
España
Phone +34 93 480 31 00
E-Mail [email protected]
France
Phone +33 1 64 62 35 00
E-Mail [email protected]
Great Britain
Phone +44 (0)1727 831121
E-Mail [email protected]
India
Phone +91–22–2822 7084
E-Mail [email protected]
Italia
Phone +39 02 27 40 93 19
E-Mail [email protected]
Österreich
Phone +43 (0)22 36 62 28 8-0
E-Mail [email protected]
Polska
Phone +48 22 837 40 50
E-Mail [email protected]
Republic of Korea
Phone +82-2 786 6321/4
E-Mail [email protected]
Republika Slowenija
Phone +386 (0)1-47 69 990
E-Mail [email protected]
Russia
Phone +7 95 775 05 30
E-Mail [email protected]
Schweiz
Phone +41 41 619 29 39
E-Mail [email protected]
Singapore
Phone +65 6744 3732
E-Mail [email protected]
Suomi
Phone +358-9-25 15 800
E-Mail [email protected]
Sverige
Phone +46 8 680 64 50
E-Mail [email protected]
Taiwan
Phone +886 2 2365-6292
E-Mail [email protected]
Türkiye
Phone +90 216 587 74 00
E-Mail [email protected]
USA/Canada/México
Phone +1(952) 941-6780
1 800-325-7425 – tollfree
E-Mail [email protected]
Japan
Phone +81 (0)3 3358 1341
E-Mail [email protected]
Nederlands
Phone +31 (0)30 229 25 44
E-Mail [email protected]
Norge
Phone +47 67 81 50 00
E-Mail [email protected]
SICK AG | Waldkirch/Reute | Germany | www.sick.com
More representatives and agencies
in all major industrial nations at
www.sick.com
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement