Address
Name
#Register
Description / Value
153
Distance inner code
2
0.009 m (default)
(for 1 mm pixel size in SICK Multi‐
Code Tag)
155
Distance outer code
2
0.027 m (default)
(for 1 mm pixel size in SICK Multi‐
Code Tag)
165
Scaling x
s
2
32-bit float
(default: 10,000)
167
Scaling y
s
2
32-bit float
(default: 10,000)
169
Scaling z
s
2
32-bit float
(default: 10,000)
171
Scaling phi
s
2
32-bit float
(default: 32,767 / pi)
173
Angle format
1
0: Signed (i.e. -pi...+pi) (default)
1: Unsigned (i.e. 0...+2pi)
175
Scaling v
s
2
32-bit float
(default: 10,000)
180
Angle offset phi
0
2
32-bit float
(default:0)
Rotation offset in z-plane.
unit: deg
182
Mirror axes
1
16-bit unsigned (default: 0) mirroring
of axes
Low byte (x-axis):
0: x-axis not mirrored
1: x-axis mirrored
High byte (y-axis):
0: y-axis not mirrored
1: y-axis mirrored
183
Swap axes
1
16-bit unsigned swapping of axes
0: Axes not swapped (default)
1: Axes swapped
8.2.1.1
Reading out SICK MultiCodes
Read the 12 input registers with the result data (register addresses 320 to 331)
periodically (not more often than every 30 ms). Use Modbus function code 0x04.
If status bits 0, 1, 2 are set, all registers are valid.
The “time offset” value (register address 329) can be used to determine the exact
relative position of the code to the vehicle. The value indicates the time from the code
reading to transmission of the Modbus telegram.
If the value is 30 ms, the value was read out 30 ms ago.
In conjunction with the vehicle speed, the position of the vehicle can be precisely
determined in this way.
8.3
Transformation of output values
8.3.1
Scaling of output values
The GLS100 internally calculates the position and alignment of a code with floating
point accuracy. However, the result data is output as integer values.
The standard scaling of the position data (x, y, z) is 0.1 mm per increment in 32-bit
two's complement. The standard scaling of the orientation angle is (pi / 32,737) per
increment in 16-bit two's complement. By default, the angle is output as a signed value
and therefore maps the orientation angle from -pi to + pi.
8
OPERATION
38
O P E R A T I N G I N S T R U C T I O N S | GLS100
8026282/2021-05-26 | SICK
Subject to change without notice
