12
Annex
12.1
Telegram structure
Example: Send data permanently
NOTICE
When the device is starting up and during a restart, no data telegrams or responses are sent by the device for a
period of up to 30 seconds. The blank spaces (hexadecimal: 20) must be added to the calculation of the telegram
length when both sending and receiving telegrams.
The recommended CoLa binary is structured as follows:
•
4 bytes STX (hexadecimal: 02)
•
4 bytes telegram length
•
Telegram content
•
1 byte XOR checksum (calculated from the content)
For additional information, see the publication
Telegram Listing Ranging sensors
(part number 8014631).
Table 13: Telegram structure: sEN LMDscandata
Telegram
part
Description
Variable Length Values CoLa A (ASCII)
Values CoLa B (binary)
Command
type
Event
String
3
sEN
73 45 4E
Command Data telegram
String
11
LMDscandata
4C 4D 44 73 63 61 6E 64 61 74 61
Measure‐
ment
Start/stop
Enum_8 1
Stop:
0
Start:
1
Stop:
00
Start:
01
Table 14: Example: sEN LMDscandata
Telegram type
Command
CoLa A
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
CoLa B
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
Table 15: Telegram structure: sEA LMDscandata
Telegram
part
Description
Variable Length Values CoLa A (ASCII)
Values CoLa B (binary)
Command
type
Answer
String
3
sEA
73 45 41
Command Data telegram
String
11
LMDscandata
4C 4D 44 73 63 61 6E 64 61 74 61
Measure‐
ment
Start/stop
Enum_8 1
Stop:
0
Start:
1
Stop:
00
Start:
01
Table 16: Example: Confirmation of sEA LMDscandata
Telegram type
Command
CoLa A
ASCII
<STX>sEA{SPC}LMDscandata{SPC}1<ETX>
Hex
02 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
CoLa B
Binary
02 02 02 02 00 00 00 11 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61
20 01 33
Telegram data stream
The response to the telegram is followed by the scan data.
12
ANNEX
52
O P E R A T I N G I N S T R U C T I O N S | LMS4400/LMS4500
8023202/16S6/2020-01-24 | SICK
Subject to change without notice
