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12
ANNEXE
Table 71 : Telegram structure: sWN LMDscandatacfg
Telegram structure: sWN LMDscandatacfg
(User level 'Authorized client' required)
Telegram
Description
part
Command
Write
type
Command Configure scandata
Data chan‐
Defines the telegram
nel
content (DIST)
Further
Remission, Angle offset,
data chan‐
Ambient light & Quality
nels
data output
Reserved
-
Unit
Unit of remission data
Encoder
Encoder data
Reserved
-
Device
Sends the device name
name
Reserved
-
Time
Sends time stamp infor‐
mation
Output
Sends the output rate
rate
Example: Distance data, remission data in percent, encoder values, each 10
Table 72 : Example: sWN LMDscandatacfg
<STX>sWN{SPC}LMDscandatacfg{SPC}1{SPC}0{SPC}1{SPC}1{SPC}1{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}
+10<ETX>
<STX> sWN LMDscandatacfg1 0 1 1 1 1 0 0 0 0 0 +10<ETX>
CoLa A
sWN LMDscandatacfg1 0 1 1 1 1 0 0 0 0 0 +10
02 73 57 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 20 31 20 30 20 31 20 31 20 31 20 31 20
30 20 30 20 30 20 30 20 30 20 2B 31 30 03
02 02 02 02 00 00 00 20
00 00 00 00 00 0A
CoLa B
73 57 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 20 01 00 01 01 01 01 00 00 00 00 00 00 0A
88
N O T I C E D ' I N S T R U C T I O N | LMS4000
Variable Length
String
3
String
14
Uint_8
2
Uint_8
1
Enum_8 1
Enum_8 1
Uint_8
2
Bool_1
1
Bool_1
1
Bool_1
1
Bool_1
1
Uint_16 2
73 57 4E
20
4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67
49
Additional details
No distance values:
Distance values:
No values:
Remission only:
Angle only:
Remission & Angle:
Quality only:
Remission & Quality:
Angle & Quality:
Remission & Angle & Quality:
Always:
Digits (RSSI):
Percent (REFL):
No encoder:
Channel 1:
Always:
No:
Yes:
Always:
No:
Yes:
All scans:
Each 2
nd
scan:
Max. Each 50000
th
scan:
th
Values CoLa A
Values CoLa B
(ASCII)
(Binary)
sWN
73 57 4E
LMDscanda‐
4C 4D 44 73
tacfg
63 61 6E 64 61
74 61 63 66
67
0 0
00 00
1 0
01 00
0
00
1
01
2
02
3
03
4
04
5
05
6
06
7
07
1
01
0
00
1
01
0 0
00 00
1 0
01 00
0
00
0
00
1
01
0
00
0
00
1
01
+1d (1h)
00 01
+2d (2h)
00 02
+50000d
C3 50
(C350h)
scan
20
01 00 01 01 01 01 00
8027168/1MNR/2024-10-25 | SICK
Subject to change without notice
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