激光雷达tl_lms1xx_5xx_tim3xx_jef300_jef500_en_8014631_20120508.pdf

Telegrams for Configuring and Operating the LMS1xx, LMS5xx, TiM3xx, JEF300, JEF500 TELEGRAM LISTING Description Telegram listing 8014631/2012-05-08 © SICK AG · Germany · All rights reserved · Subject to change without notice 2 of 76 Contents 1 DESCRIPTION . 4 2 COMMUNICATION FORMAT 4 2.1 Binary Telegram (only LMS1xx) . 4 2.2 ASCII Telegram 5 2.3 Variable Types 6 2.4 Command Basics . 6 2.5 Blanks . 7 2.6 Login . 7 3 WORKFLOWS 7 3.1 Parameterize the scan 7 3.2 Set Timestamp/Data Angle . 7 4 LOG IN TO DEVICE . 8 5 BASIC SETTINGS 10 5.1 Set frequency and angular resolution . 10 5.2 Get frequency and angular resolution 13 5.3 Get the status of the LMS . 14 6 MEASUREMENT OUTPUT TELEGRAM . 16 6.1 Configure the data content for the scan . 16 6.2 Configure measurement angle of the scan data for output 19 6.2.1 Ask for actual output range . 20 6.3 Polling one Telegram 22 6.4 Send data permanent . 23 6.4.1 Example and Interpretation of one Telegram . 30 7 TIMESTAMP . 34 7.1 Set timestamp . 34 7.2 Ask timestamp and device status . 36 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 Description Telegram listing 8014631/2012-05-08 © SICK AG · Germany · All rights reserved · Subject to change without notice 3 of 76 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 OTHER COMMANDS . 57 13.1 Device Ident 57 13.2 Device State . 58 13.3 Device Name 59 13.3.1 Set Device Name 59 13.3.2 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 13.9.1 Set Contamination values . 67 13.9.2 Ask for contamination settings 68 13.10 Synchronization Phase . 69 13.11 Function Front Panel 70 14 STANDBY MODE . 72 15 START MEASUREMENT . 73 16 STOP MEASUREMENT . 74 17 SOPAS ERROR CODES 75 18 PROBLEMS 76 Description Telegram listing 8014631/2012-05-08 © SICK AG · Germany · All rights reserved · Subject to change without notice 4 of 76 1 Description 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. Communication format Telegram listing 8014631/2012-05-08 © SICK AG · Germany · All rights reserved · Subject to change without notice 5 of 76 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 。