•
Application data
: Status of inputs and outputs that are used in the monitoring case
table
•
Device status
: Information on the status of the safety laser scanner (e.g., cut-off
paths, errors)
•
Configuration of data output
: Information on the angular range actually being used
(for technical reasons, data from a slightly larger angular range than the one set
may be output in some cases)
Angular range
You can define the range within which measurement data and data relating to field
interruptions is output.
6.5
Multiple receivers of measurement data via broadcast
Overview
If you want to transmit measurement data from the safety laser scanner to multiple
clients, you must use broadcasting.
For the default Ethernet configuration of the SIM, the port 2 is:
•
IP: 192.168.1.1
•
Subnet mask: 255.255.255.0
The broadcast IP address for this subnet (derived from IP of the SIM) is:
•
192.168.1.255
Important information
NOTE
When using multiple LiDARs, a different receiver port for each sensor must be config-
ured (UDP port). For example:
•
UDP port Safety Scanner 1: 6060
•
UDP port Safety Scanner 2: 6061
If multiple sensors use the same receiver port, the scans may interfere with each other.
This may cause a fault in LiDAR-LOC or any customer application. Setting a receiver port
number in the range between 51000 and 51100 may cause interference with other
sensor configurations and should be avoided.
NOTE
When localizing, please close the SICK Safety Designer. The CoLa-A communication of
the SICK Safety Designer interferes with the CoLa-A communication of LiDAR-LOC.
Approach
1.
In the Safety Designer, open Configuration
→
Addressing.
2.
In the section
IP address
, configure the Ethernet interface IP of the microScan3 to
an unused IP address in the subnet, e.g. 192.168.1.2.
MICROSCAN3 CONFIGURATION OF THE DATA OUTPUT
6
8024819/2019-09-02 | SICK
T E C H N I C A L I N F O R M A T I O N | LiDAR Localization Hardware Integration
19
Subject to change without notice
