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LMS511 输出数据解析.pdf
1 Description
2 Communication format
2.1 Binary Telegram (only LMS1xx)
2.2 ASCII Telegram
2.3 Variable Types
2.4 Command Basics
2.5 Blanks
2.6 Login
3 Workflows
3.1 Parameterize the scan
3.2 Set Timestamp/Data Angle
4 Log in to device
5 Basic settings
5.1 Set frequency and angular resolution
5.2 Get frequency and angular resolution
5.3 Get the status of the LMS
6 Measurement output telegram
6.1 Configure the data content for the scan
6.2 Configure measurement angle of the scan data for output
6.2.1 Ask for actual output range
6.3 Polling one Telegram
6.4 Send data permanent
6.4.1 Example and Interpretation of one Telegram
7 Timestamp
7.1 Set timestamp
7.2 Ask timestamp and device status
8 Save parameters permanent
9 Set to run
10 Filter
10.1 Particle Filter
10.2 Mean Filter
10.3 Set n-Pulse to 1-Pulse Filter
10.4 Echo Filter
10.5 Fog Filter
11 Encoder
11.1 Increment source
11.2 Encoder Settings
11.3 Encoder resolution
11.4 Fixed speed
11.5 Ask speed threshold
11.6 Encoder speed
12 Outputs
12.1 Ask state of the outputs
12.2 Set output state
12.3 Change output 6/3 function
12.4 Change Input 4 function
12.5 Reset output counter
13 Other Commands
13.1 Device Ident
13.2 Device State
13.3 Device Name
13.3.1 Set Device Name
13.3.2 Ask Device Name
13.4 Operating hours
13.5 Power On Counter
13.6 IP-Address
13.7 Set factory defaults
13.8 Reboot Device
13.9 Contamination Measurement
13.9.1 Set Contamination values
13.9.2 Ask for contamination settings
13.10 Synchronization Phase
13.11 Function Front Panel
14 Standby Mode
15 Start Measurement
16 Stop Measurement
17 Sopas Error Codes
18 Problems
T E L E G R A M L I S T I N G
Telegrams for Configuring and
Operating the LMS1xx, LMS5xx,
TiM3xx, JEF300, JEF500
Contents
Description
Telegram listing
1 DESCRIPTION ....................................................................................................... 4
2 COMMUNICATION FORMAT ................................................................................ 4
Binary Telegram (only LMS1xx) ................................................................................................. 4
ASCII Telegram .......................................................................................................................... 5
Variable Types ............................................................................................................................ 6
Command Basics ....................................................................................................................... 6
Blanks ......................................................................................................................................... 7
Login ........................................................................................................................................... 7
2.1
2.2
2.3
2.4
2.5
2.6
3 WORKFLOWS ........................................................................................................ 7
Parameterize the scan ................................................................................................................ 7
Set Timestamp/Data Angle ......................................................................................................... 7
3.1
3.2
4 LOG IN TO DEVICE ............................................................................................... 8
5 BASIC SETTINGS ................................................................................................ 10
Set frequency and angular resolution ....................................................................................... 10
Get frequency and angular resolution ...................................................................................... 13
Get the status of the LMS ......................................................................................................... 14
5.1
5.2
5.3
6.1
6.2
6 MEASUREMENT OUTPUT TELEGRAM ............................................................. 16
Configure the data content for the scan ................................................................................... 16
Configure measurement angle of the scan data for output ...................................................... 19
Ask for actual output range ............................................................................................... 20
Polling one Telegram ................................................................................................................ 22
Send data permanent ............................................................................................................... 23
Example and Interpretation of one Telegram ................................................................... 30
6.3
6.4
6.2.1
6.4.1
7 TIMESTAMP ......................................................................................................... 34
Set timestamp ........................................................................................................................... 34
Ask timestamp and device status ............................................................................................. 36
7.1
7.2
8 SAVE PARAMETERS PERMANENT ................................................................... 38
9 SET TO RUN ........................................................................................................ 39
10 FILTER ................................................................................................................. 40
10.1 Particle Filter ............................................................................................................................. 40
10.2 Mean Filter ................................................................................................................................ 41
10.3 Set n-Pulse to 1-Pulse Filter ..................................................................................................... 42
10.4 Echo Filter ................................................................................................................................. 43
10.5 Fog Filter ................................................................................................................................... 44
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Description
Telegram listing
11 ENCODER ............................................................................................................ 45
11.1
Increment source ...................................................................................................................... 45
11.2 Encoder Settings ...................................................................................................................... 46
11.3 Encoder resolution .................................................................................................................... 47
11.4 Fixed speed .............................................................................................................................. 48
11.5 Ask speed threshold ................................................................................................................. 49
11.6 Encoder speed ......................................................................................................................... 50
12 OUTPUTS ............................................................................................................. 51
12.1 Ask state of the outputs ............................................................................................................ 51
12.2 Set output state ........................................................................................................................ 53
12.3 Change output 6/3 function ...................................................................................................... 54
12.4 Change Input 4 function ........................................................................................................... 55
12.5 Reset output counter ................................................................................................................ 56
13.3.1
13.3.2
13 OTHER COMMANDS ........................................................................................... 57
13.1 Device Ident .............................................................................................................................. 57
13.2 Device State ............................................................................................................................. 58
13.3 Device Name ............................................................................................................................ 59
Set Device Name .............................................................................................................. 59
Ask Device Name ............................................................................................................. 61
13.4 Operating hours ........................................................................................................................ 62
13.5 Power On Counter .................................................................................................................... 63
13.6
IP-Address ................................................................................................................................ 64
13.7 Set factory defaults ................................................................................................................... 65
13.8 Reboot Device .......................................................................................................................... 66
13.9 Contamination Measurement ................................................................................................... 67
Set Contamination values ................................................................................................. 67
Ask for contamination settings .......................................................................................... 68
13.10 Synchronization Phase ............................................................................................................. 69
13.11 Function Front Panel ................................................................................................................ 70
13.9.1
13.9.2
14 STANDBY MODE ................................................................................................. 72
15 START MEASUREMENT ..................................................................................... 73
16 STOP MEASUREMENT ....................................................................................... 74
17 SOPAS ERROR CODES ...................................................................................... 75
18 PROBLEMS .......................................................................................................... 76
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1 Description
Description
Telegram listing
That document shows how to send telegrams via terminal program in ASCII (also in Hex) or
Binary to the LMS1xx. It includes the descriptions for the commands how they work and
some examples commands in ASCII, HEX and Binary for sending a telegram. Also the
answers to expect from the LMS after sending a command are shown. The sensor always
answers in the language he was talked to.
Two workflows for getting a data scan out of the device and setting the timestamp can be
found here.
This document is for LMS1xx as well as for LMS5xx and all parameters of the commands are
listed but it is not a description of the differences of a LMS5xx LITE or PRO.
Also it is valid for the TiM and the JEF, please find the information which telegram is valid for
which device directly in the header of each telegram.
That Guide doesn’t show the differences of all the parameters and options between the
devices completely.
ATTENTION: Some commands may change during SICK development process. Please use
always the least version of the developer´s guide.
2 Communication format
2.1 Binary Telegram (only LMS1xx)
The binary protocol is the basic protocol of the scanner. It has always a fix length and the
content and byte length of the string fit to that document.
The binary protocol has a special framing so that the scanner is able to recognize it as the
start of a binary telegram.
The string has to start with 4 STX symbols (for example: 02 02 02 02), that is followed by the
length of the telegram in HEX (for example: 00 00 00 17).
Example:
Binary
02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4
72 47 44 B3
Header: 02 02 02 02; Length: 00 00 00 17; Checksum: B3
The length could be created by counting every single letter (Hex value) of the command
(without checksum and framing but with blanks) and convert the value into HEX.
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Communication format
Telegram listing
After the length the command itself starts. All letters of the command converted to HEX and
that the parameters (mostly numbers) written directly behind the command in pairs of two.
All parameters of the command have to be in hex (for example: scan frequency 25Hz is
00009C4h (It is a 4 byte value).
Checksum is calculated with XOR.
Between the command and the parameters, there has to be a blank, but not between the
parameters itself.
Example string:
sMN SetAccessMode 04 81BE23AA
Binary string:
02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 04 81 BE 23 AA 87
In the scan data telegram from the scanner, the range values could be used as they are, they
don’t have to be converted. Every value is 2 byte long.
The binary protocol could only be used at the host port of the scanner, and at the moment only
with the LMS1xx.
2.2 ASCII Telegram
The ASCII telegram is an additional format and because of the ASCII signs it´s a little better to
understand.
The framing of the telegram is a STX at the start and an ETX at the end of each telegram.
The command is written in ASCII letters, followed by the parameters like defined in that
document. Parameters could be transferred in hex or decimal format, but in decimal format
they need a sign (for example: scan frequency 25Hz: 09C4h/+2500d)
Attention: leading zeros of each parameter and value were deleted, so the byte length of a
parameter may not fit to what is standing in that document. That also causes different string
length in the scan data telegram.
For using with PLC’s the binary protocol is recommended.
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Communication format
Telegram listing
2.3 Variable Types
Variable type
Bool_1
Length (byte)
1
Uint_8
Int_8
Uint_16
Int_16
Uint_32
Int_32
Enum_8
Enum_16
Float_32
String
1
1
2
2
4
4
1
2
4
Context-dependent
Data length is given always in Bytes!
2.4 Command Basics
Value range
0 or 1
0...255
-128...+127
0...65.535
-32.768...+32.767
0...4.294.967.295
2.147.483.648...+2.147.
483.647
-10-44.85...+1038.53
Strings are not
terminated in zeroes
Sign
No
No
Yes
No
Yes
No
Yes
No
No
Yes
Description
Start of text
Value ASCII
Value Hex
02
Value Binary
02 02 02 02 + given
length
Calculated checksum
sRN
sWN
sMN
sEN
{SPC}
End of text
Read by name
Write by name
Method
Event
Space
If there are values coming in two parts (for example the outputs in the measurement telegram
documented as: 00 07, output will be 07 00; LSB first, than MSB)
73 52 4E
73 57 4E
73 4D 4E
73 45 4E
20
03
20
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2.5 Blanks
The position of the blanks in a string is different in ASCII and Binary format, so they are not
listed in the tables, but they can be found in the example strings.
Workflows
Telegram listing
2.6 Login
You must be logged in before you are allowed to send any parameterization commands.
Request for a data telegram can be done without login.
3 Workflows
Parameterize the scan
3.1
1. Log in:
2. Set Frequency and Resolution:
3. Configure scan data content:
4. Configure scan data output:
5. Store Parameters:
6. Log out:
7. Request Scan:
sMN SetAccessMode
sMN mLMPsetscancfg
sWN LMDscandatacfg
sWN LMPoutputRange
sMN mEEwriteall
sMN Run
sRN LMDscandata / sEN LMDscandata
Get the exact description of that commands down in that document.
3.2 Set Timestamp/Data Angle
1. Log in:
2. Sopas command
3. Log out:
sMN SetAccessMode
sMN LSPsetdatetime
sMN Run
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4 Log in to device
Log in to device
Telegram listing
PC
LMS 1xx/5xx
Telegram structure: sMN SetAccessMode
Description
Telegram
Command Type Sopas by name
Command
User level
Variable
String
String
Length
3
13
Values ASCII
sMN
SetAccessMode
Values Binary
73 4D 4E
53 65 74 41 63 63 65 73
73 4D 6F 64 65
User level
select user level
Int_8
Password: main
Password:
client
Password:
service level
“Hash” - value for
the User level
“Maintenance”
“Hash” - value for
the User level
“Authorized Client”
“Hash” - value for
the User level
“Service”
Uint_32
Uint_32
Uint_32
1
4
4
4
02 maintenance
03 authorized client
04 Service
02 maintenance
03 authorized client
04 Service
B21ACE26
B2 1A CE 26
F4724744
F4 72 47 44
81BE23AA
81 BE 23 AA
Example: sMN SetAccessMode 03 F4724744
ASCII
sMN{SPC}SetAccessMode{SPC}03{SPC}F4724744
HEX
02 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 30 33 20 46 34 37 32 34 37 34 34 03
Binary
02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4 72 47 44 B3
LMS 1xx/5xx
PC
Description
Telegram
Command Type Sopas by name
Command
User level
Telegram structure: sAN SetAccessMode
Variable
String
String
Length
3
13
Values ASCII
sAN
SetAccessMode
Change user
level
changed level
Bool_1
1
0 Error
1 Success
Values Binary
73 41 4E
53 65 74 41 63 63 65 73
73 4D 6F 64 65
00 Error
01 Success
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