SICK LMS500-20000 PRO Indoor, Руководство по эксплуатации

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Operating Instructions
LMS500 Product Family
Annex
8013796/UL20/2010-09-27
© SICK AG · Division Auto Ident · Germany · Subject to change without notice
85
Chapter 10
10.2.5 Read scanning frequency, angular resolution and scan area
Reads the scanning frequency, the angular resolution and the starting/stopping angle from
the LMS.
Request
Message structure: sRN LMPscancfg
Answer
Message structure: sRA LMPscancfg ScanningFrequency NumberSegments
AngularResolution StartingAngle StoppingAngle
Example
Request: <STX>sRN{SPC}LMPscancfg<ETX>
HEX string: 02 73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67 03
Answer:
<STX>sRA{SPC}LMPscancfg{SPC}0{SPC}9C4{SPC}
1{SPC}9C4{SPC}FFFF3CB0{SPC}1C3A90<ETX>
HEX string:
02 73 52 41 20 4C 4D 50 73 63 61 6E 63 66 67 20 31 33 38 38 20 31 20 31
33 38 38 20 46 46 46 46 33 43 42 30 20 31 43 33 41 39 30
Message part Description Variable type Length
(byte)
Value range
Type of command Request (SOPAS read by name) string 3 sRN
Command Reading of scanning frequency and
angular resolution string 10 LMPscancfg
Message syntax X: Request “Read scanning frequency, angular resolution and scan area”
Message part Description Variable type Length
(byte)
Value range
Type of command Answer (SOPAS read answer) string 3 sRA
Command Configuration of scanning
frequency and angular resolution string 10 LMPscancfg
ScanningFrequency Information 1/100 Hz uint_32 4 2,500 25 Hz
3,500 35 Hz
5,000 50 Hz
7,500 75 Hz
10,000 100 Hz
NumberSegments For the LMS500 always 1 uint_16 2 1 1 segment
AngleResolution Information 1/10,000 degree uint_32 4 1,667 0.1667°
2,500 0.25°
3,333 0.3333°
5,000 0.5°
6,667 0.6667°
7,500 0.75°
10,000 1.0°
Starting angle Information 1/10,000 degree int_32 4 –50,000 … +1,850,000
StoppingAngle Information 1/10,000 degree int_32 4 –50,000 … +1,850,000
Message syntax XI: Answer to the “Read scanning frequency, angular resolution and scan area” request