Chapter
3
Operating Instructions
Laser measurement sensor LD-MRS
36
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SICK AG · Germany · All rights reserved · Subject to change without notice
8012948/ZMQ0/2017-06-09
Product description
3.4.10
Data interface
The LD-MRS has an Ethernet interface for configuration and data transmission for measur-
ing mode.
The Ethernet interface is designed as TCP/IP interface; it supports full duplex.
By factory default, the Ethernet interface is configured as follows:
•
IP address: 192.168.0.1
•
Subnet mask: 255.255.255.0
•
TCP port: 12002
Depending on the configuration of the LD-MRS, the Ethernet interface provides different
data types:
•
Scan data (see
Chapter 3.5 Measuring mode, Page 36
– LD-MRS: data type 0x2202
•
Warnings and fault messages
– LD-MRS: data type 0x2030
•
Commands and responses
– data types 0x2010 and 0x2020
For a description of the electrical connections and cables of the data interfaces, refer to
Chapter 5.3 Electrical connections and cables, Page 66
See Ethernet Data Protocol for further information
.
3.5
Measuring mode
3.5.1
Scan data
Scanning the sensor surroundings within the scanning range of the LD-MRS is called the
scan process.
The total set of measured data (= scan data) of a scan process, consisting of individual scan
points, are called scan.
Upon request, the LD-MRS issues the scan data via the Ethernet interface.
In the scan process, the transmitted laser pulses are reflected by objects within the mea-
surement range. These echo pulses are received and analysed by the LD-MRS. Every detect-
ed echo pulse is represented by a scan point with the following main properties:
•
position of the point
•
width of the echo pulse
•
scan plane and echo number
The LD-MRS generates a two-dimensional profile of the surroundings, with additional height
information (three-dimensional information) resulting from the multi-layer technology, see
.
Typical presentation of the scan data is a bird's view, i.e. the view from above onto the mea-
surement plane.
