Product description
32
© SICK AG · Germany · All rights reserved · Subject to change without notice
8013889/ZML0/2017-06-09
Operating Instructions
NAV350 Laser positioning sensor
Chapter
3
3.9.2
Data communication using telegrams
The NAV350 sends telegrams over the interfaces described above to communicate with a
connected vehicle computer. The following functions can be run using telegrams:
•
setting parameters by the AGV’s computer for the configuration of the NAV350
•
querying parameters and status logs by the AGV’s computer
•
requesting landmark positions (if necessary incl. the contour measured values) by the
AGV’s computer, subsequent answer NAV350
•
requesting positions (if necessary incl. the contour measured values) by the AGV’s com-
puter, subsequent answer NAV350
Fig. 18:
Requesting an absolute position or landmark positions
Depending on the frequency of the data request from the vehicle computer, the NAV350
transfers data to the vehicle computer up to eight times per second.
The telegrams each comprise a frame (see
section “Frame and coding for the telegrams”
on page 32
) and the data.
Frame and coding for the telegrams
A detailed description of the different telegrams can be found in the “NAV350 Telegram list-
ing”, part
no.: 8013893.
Answer
sAN mNPOSGetPose (absolute position)
or: sAN mNLMDGetData (landmark positions)
Request
sMN mNPOSGetData (absolute position)
or: sMN mNLMDGetData (landmark positions)
Frame
Telegram
Frame
Designation
STX
Data (see “NAV350 Telegram listing”, part
no.:
8013893)
ETX
Length (byte)
1
≤
35 kB
1
4Description
Start of text character
ASCII coded. The length is dependent on the previous
send telegram.
End of text character
Tab. 7:
Frame for the telegrams with ASCII coding
