Telegram type
Command
Binary
02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73
63 61 6E 64 61 74 61 05
Request for continuous output of measured values:
Table 11: Telegram structure:
sEN LMDscandata
measurement start/stop
Telegram part
Description
Variable type
Length (byte)
Value range
Command type
Request (SOPAS
event by name)
string
3
sEN
Command
Request data
string
11
LMDscandata
StartStop measure‐
ment
Enum8
1
0: Stop output of
measured values
1: Start output of
measured values
Table 12: Example:
sEN LMDscandata
Telegram type
Command
ASCII
<STX>sEN{SPC}LMDscandata{SPC}1<ETX>
HEX
02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61
20 31 03
Binary
02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73
63 61 6E 64 61 74 61 20 01 33
Note:
For the content of the response telegram for the measured value request, see
Telegram
Listing
(No. 8014631) under ‘Send Data Permanently’ in section 4. The telegram
consists of one part with information on the configuration of the device and the
time stamp, one part with measured data, and a status part with information on the
device status and the statuses of the inputs/outputs.
After starting the measurement mode, the device needs some time to reach
status 1 (“ready”). You should therefore query the status of the device using the
sRN SCdevicestate
telegram.
Then request measured data via telegram at the data interface from which you want
to receive measured data. This can be achieved in two ways:
•
The request of exactly one measured value with the
sRN LMDscandata
telegram –
the last measured scan is transmitted.
•
Continuous request of measured data with the
sEN LMDscandata 1
telegram –
measured data is transmitted until the output of measured values is stopped with
the
sEN LMDscandata 0
telegram.
Activating the output of the measured values in SOPAS on a test basis:
1.
Start the terminal emulator:
Tools
menu >
Terminal
.
2.
In the dialog window in the
Connections
menu, select the
Create new connection
function.
3.
In the connection wizard, select the communication interface (
Ethernet
) and con‐
nection settings (default IP address: 192.168.0.1) and establish the connection
(
Finish
button).
4.
Enter in the input line one of the two example telegrams from the annex as they
appear (automatically framed by
STX
and
ETX
when sending in the default setting).
Pay attention to blank characters in the string.
5.
Use the button to transmit the telegram to the LiDAR sensor.
✓
The LiDAR sensor responds by providing the data as a one-off or continuously in
the display area of the terminal emulator.
OPERATION
7
8026338/0000/2022-02-15 | SICK
O P E R A T I N G I N S T R U C T I O N S | LRS4000
33
Subject to change without notice
