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8014493/ YDB5/2014-11-25

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Bytes Parameter

index

LD-MRS parameter

datatype

Description

4

0x7000

Detailed error code
for FlexRes

UINT32

Detailed error information
for FlexRes feature. When
parameter setting of
0x4000 fails, reading this
parameter will give the
reason.

0x006C: The number of shots

per scan is higher than
440.

0x006D: The sectors with a

resolution of 0.125° sum
up to more than 20°.

0x006E: The scan frequency is

not 12.5Hz.

0x006F: The start angles of the

sectors decrease not
strictly monotone.

0x0070: Could not set FlexRes

parameter because the
sensor is not idle and in
flex res mode.

0x0071: The resolution of one

sector is not 4,8,16 or
32 (0.125°, 0.25°, 0.5°,
1°)

0x0072: The number of sectors

is larger than 8

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Содержание LD-MRS 400001S01

Страница 1: ...8014493 YDB5 2014 11 25 SICK AG Germany All rights reserved Subject to change without notice Page 1 of 26 CAN data protocol LD MRS 400001S01 LD MRS 400102S01 LD MRS 800001S01...

Страница 2: ...D 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 comm...

Страница 3: ...e ID set to 0x500 the used CAN messages will have the IDs 0x500 through 0x50F As the message ID defines the message and its contents each ID may only be used by one device or for one purpose on the CA...

Страница 4: ...ed base ID 15 0x50F Error messages 2 3 Message format Message length is always 8 bytes unless declared differently in the description Message byte and bit numbering is zero based E g the first data by...

Страница 5: ...a encoding is Big Endian format 3 1 List header CAN Base ID e g 0x500 Content Data area Data type Description Version byte 0 UINT8 Version of the object data format This document describes version 1 N...

Страница 6: ...ID 0x2 e g 0x502 Content Data area Data type Description Object ID byte 0 UINT8 ID of this object from the tracking Use this ID to refer messages to an object Position x bytes 1 2 INT16 Position of th...

Страница 7: ...of the velocity estimation in cm Velocity y sigma byte 7 UINT8 3 5 Class and box1 CAN Base ID 0x4 e g 0x504 Content Data area Data type Description Object ID byte 0 UINT8 ID of this object from the t...

Страница 8: ...In this case the ContourStartpoint contains the closest distance to the object No more contour point messages are sent for this object Closest contour point number byte 2 UINT8 The closest object dist...

Страница 9: ...rt to cm x offset e g point 2 byte 4 INT8 y offset e g point 2 byte 5 INT8 x offset e g point 3 byte 6 INT8 y offset e g point 3 byte 7 INT8 3 9 List trailer CAN Base ID e g 0x508 Content Data area Da...

Страница 10: ...nd ID is 0x50B Attention The data is encoded in little endian byte order in this message Content Data area Data type Description Reply ID bytes 0 1 UINT16 If a command succeeded the reply ID is equal...

Страница 11: ...type Description 2 0 0x0010 UINT16 Set a single Parameter by its index to the sensor memory Parameter is set only temporarily until a SaveConfig command see 4 1 2 is sent 2 2 Parameter index UINT16 R...

Страница 12: ...ctory Defaults Bytes Offset LD MRS command content Content type Description 2 0 0x001A UINT16 Resets all parameters to the factory defaults The command Load Factory Defaults will be acknowledged by th...

Страница 13: ...ec Bytes Offset LD MRS command content Content type Description 2 0 0x0030 UINT16 sets the second of NTPtimestamp 2 2 Reserved0 UINT16 4 4 Timestamp UINT32 Seconds NTP format The time will be set in t...

Страница 14: ...xecuted first command SetNTPTimestampSec 0x0030 must be sent see 4 1 8 Bytes Offset LD MRS command content Content type Description 2 0 0x0031 UINT16 sets the fractional second of NTPtimestamp 2 2 Res...

Страница 15: ...003 Standard gateway UINT32 Valid all 4 0x1010 CAN Base ID UINT32 Valid value 0x7F0 2 0x1011 CAN Baud Rate UINT16 in kBaud next matching value 1000 kBaud 500 kBaud 250 kBaud 125 kBaud will be used 2 0...

Страница 16: ...to be transmitted 2 0x1100 Start angle INT16 In 1 32 in the sensor coordinate system Valid 1600 1919 Start angle end angle 2 0x1101 End angle INT16 In 1 32 in the sensor coordinate system Valid 1599 1...

Страница 17: ...ll be reduced dynamically up to 60 in case of direct sun light 2 0x1200 SensorMounting_X INT16 In cm related to vehicle reference point rear axle Order of translation and rotation is essential Rotatio...

Страница 18: ...rRatioType UINT16 Reserved internal 4 0x120C SteerRatioPoly0 Float32 Reserved internal Valid all 4 0x120D SteerRatioPoly1 Float32 Reserved internal Valid all 4 0x120E SteerRatioPoly2 Float32 Reserved...

Страница 19: ...able APD control UINT16 Enables adaptive sensitivity control If disabled sensor works at maximum sensitivity Valid values are 1 Enabled DEFAULT or 0 Disabled This parameter is not persistent it will n...

Страница 20: ...ctor 5 INT16 see above 2 0x4006 StartAngle Sector 6 INT16 see above 2 0x4007 StartAngle Sector 7 INT16 see above 2 0x4008 StartAngle Sector 8 INT16 see above 2 0x4009 Angular resolution Sector 1 INT16...

Страница 21: ...fails reading this parameter will give the reason 0x006C The number of shots per scan is higher than 440 0x006D The sectors with a resolution of 0 125 sum up to more than 20 0x006E The scan frequency...

Страница 22: ...les This example shows how to set the IP address via CAN to 10 152 36 200 Bytes Message ID CAN base ID 0xA e g 0x50A Content type Content 0 Command ID 0x0010 UINT16 0x10 1 0x00 2 Parameter index 0x100...

Страница 23: ...16 bits Warning register 1 bytes 4 5 bit field 16 bits Warning register 2 bytes 6 7 bit field 16 bits 1 1 Error register 1 This register contains error flags from the FPGA of the scanner Bytes Comment...

Страница 24: ...ternal defect If the error persists contact support Bit 3 contact support Bit 4 Incorrect configuration data load correct configuration values Bit 5 Configuration contains incorrect parameters load co...

Страница 25: ...his register contains warning flags from the processor of the scanner Bytes Comment Bit0 reserved Bit1 Ethernet interface blocked check Ethernet connection Bit2 reserved Bit3 contact support Bit4 Chec...

Страница 26: ...icle motion data is supplied it must be sent in the predefined CAN messages specified below Note Data encoding is Big Endian format 0x303 Data area Data type Description Version byte 0 UINT8 Set to 2...

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