8014493/ YDB5/2014-11-25
© SICK AG · Germany · All rights reserved · Subject to change without notice
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Counter
byte 5
UINT8
Counter for header and trailer message
(to be able to match header and trailer)
Blindness
byte 6
UINT8
0: sensor not covered; other: sensor
covered = blind
Unused
byte 7
-
-
3.2 Timestamp: CAN Base ID + 0x1 (e.g. 0x501)
Content
Data area
Data type
Description
NTP seconds
bytes 0…3
UINT32
Start time of the scan these objects are
based on.
NTP fractional
seconds
byte 4…7
UINT32
Fractional seconds the scan start time.
3.3 Tracking1: CAN Base 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 the object (reference point,
e.g. center of gravity) in the reference
coordinate system in cm.
Position y
bytes 3…4 INT16
Velocity x
byte 5
bits 0…7,
byte 6
bits 4…7
INT12
Object velocity in 0.1 m/s in the reference
coordinate system. See list header for
absolute or relative velocities. 0x800
indicates an invalid velocity.
Velocity y
byte 6
bits 0…3,
byte 7
bits 0…7
INT12
Please refer to this image for clarification of the bits and bytes used for each information:
Byte
7
6
5
4
3
2
1
0
0
1
2
3
4
5
Velocity X
6
7
Velocity Y
Bit
Object ID
Position X
Position Y
