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Telegram part
Description
Variable Length Values CoLa A (ASCII)
Values CoLa B (binary)
Version number
For detecting format
changes by the version.
Version is always 1 up
to now.
Uint_16 2
0000h … FFFFh
00 00 … FF FF
Device
Device num‐
ber
Defined with SOPAS
Uint_16 2
0000h … FFFFh
00 00 … FF FF
Serial num‐
ber
Defined in factory
Uint_32 4
00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Device status (See values column)
Uint_8
2 × 1
Ok: 00 00
Error: 00 01
00 00
00 01
Status
info
Telegram
counter
Number of measure‐
ment telegrams fin‐
ished in the scanner
and given to the inter‐
face.
1
Uint_16 2
0000h … FFFFh
00 00 … FF FF
Scan counter Number of scans which
were created in the
device; counts how
many scans were really
done.
Uint_16 2
0000h … FFFFh
00 00 … FF FF
Time since
start up in µs
Counting the time since
power up the device;
starting with 0. In the
output telegram this is
the time at the zero
index before the mea‐
surement itself starts.
Uint_32 4
00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Time of
transmission
in µs
Time in µs when the
complete scan is trans‐
mitted to the buffer for
data output; starting
with 0 at scanner
bootup.
Uint_32 4
00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Status of digi‐
tal inputs
Low byte represents
input 1.
Uint_8
2 × 1
00 00
00 00
Status of digi‐
tal outputs
Low byte represents
output 1.
Uint_8
2 × 1
00 00
00 00
Layer angle
–
Uint_16 2
0
0
Frequen‐
cies
Scan fre‐
quency
[1/100 Hz]
Uint_32 4
600 Hz: +60000d
(EA60h)
600 Hz: EA 60
Measure‐
ment fre‐
quency
Inverse of the time
between two measure‐
ment shots (in
1/100 Hz): LMS4000 =
864000 Hz
Uint_32 4
5265C00h
05 26 5C 00
Amount of encoder
If 0, then next two val‐
ues are missing.
Enum_1
6
2
0
1: External encoder
00 00
01
Values
Encoder posi‐
tion
Info in ticks
Uint_32 4
00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Encoder
speed
Ticks/mm
Uint_16 2
Always: 0
Always: 00 00
Amount of 16 bit chan‐
nels
Number of 16 bit chan‐
nels that provide mea‐
sured data
Uint_16 2
Output channels: 1…3
Output channels: 01…03
12
ANNEX
54
O P E R A T I N G I N S T R U C T I O N S | LMS4000
8023198//2018-06-18 | SICK
Subject to change without notice