8014493/ YDB5/2014-11-25
© SICK AG · Germany · All rights reserved · Subject to change without notice
Page 2 of 26
Table of Content
1
Introduction
3
2
General information
3
2.1
CAN frame format
3
2.2
Identifiers
3
2.3
Message format
4
3
Object Data
5
3.1
List header: CAN Base ID (e.g. 0x500)
5
3.2
Timestamp: CAN Base ID + 0x1 (e.g. 0x501)
6
3.3
Tracking1: CAN Base ID + 0x2 (e.g. 0x502)
6
3.4
Tracking2: CAN Base ID + 0x3 (e.g. 0x503)
7
3.5
Class and box1: CAN Base ID + 0x4 (e.g. 0x504)
7
3.6
Box2: CAN Base ID + 0x5 (e.g. 0x505)
7
3.7
Contour header: CAN Base ID + 0x6 (e.g. 0x506)
8
3.8
Contour points: CAN Base ID + 0x7 (e.g. 0x507)
8
4
Command Interface
10
4.1
LD-MRS commands and command replies
10
4.1.1
Reset sensor
10
4.1.2
SaveConfig
11
4.1.3
Set Parameter
11
4.1.4
Get Parameter
11
4.1.5
Load Factory Defaults
12
4.1.6
Start Measure
12
4.1.7
Stop Measure
13
4.1.8
SetNTPTimestampSec
13
4.1.9
SetNTPTimestampFracSec
14
4.2
LD-MRS parameter list
15
4.3
Examples
22
5
LD-MRS error/warning
23
1.1
Error register 1
23
1.2
Error register 2
24
1.3
Warning register 1
25
1.4
Warning register 2
25
6
Ego motion information
26
