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Telegram structure: sRA LMDscandata / sSN LMDscandata
Telegram
Description
part
Telegram
Number of measure‐
counter
ment telegrams fin‐
ished in the scanner
and given to the inter‐
face. Does not count
how many telegrams
were really given out; is
relevant if not all scans
are delivered from the
scan core.
Scan
Number of scans which
counter
were created in the
device; counts how
many scans were really
done.
Time
Counting the time since
since
power up the device;
start up
starting with 0. In the
in µs
output telegram this is
the time at the zero
index before the meas‐
urement itself starts.
Time of
Time in µs when the
transmis‐
complete scan is trans‐
sion in µs
mitted to the buffer
for data output; start‐
ing with 0 at scanner
bootup.
Status of
Low byte represents
digital
input 1.
inputs
Status of
Low byte represents
digital
output 1.
outputs
Reserved -
Scan fre‐
[1/100 Hz]
quency
Measure‐
Inverse of the time
ment fre‐
between two measure‐
quency
ment shots (in 100 Hz).
Amount
If 0, then next two tele‐
of
gram parts are missing.
encoder
8027168/1MNR/2024-10-25 | SICK
Subject to change without notice
Variable Length
Additional details
Uint_16
2
Uint_16
2
Uint_32
4
Uint_32
4
Uint_8
2 x 1
All inputs low:
IN1 high:
IN2 high:
IN1+2 high:
Uint_8
2 x 1
All outputs low:
OUT1 high:
OUT2 high:
OUT1+2 high:
OUT4 high:
OUT1+4 high:
OUT2+4 high:
OUT1+2+4 high:
Uint_16
2
Always:
Frequencies
Uint_32
4
600 Hz:
Uint_32
4
Example: 600 Hz, 0.25°
(360/0.25)/(1/600)
= 864 kHz
Encoder
Enum_16 2
External encoder
ANNEXE
Values CoLa A
Values CoLa B
(ASCII)
(Binary)
0h ... FFFFh
00 00
...
0h ... FFFFh
00 00
...
0h ...
00 00 00 00
FFFFFFFFh
FF FF FF FF
0h ...
00 00 00 00
FFFFFFFFh
FF FF FF FF
0 0
00 00
1 0
01 00
2 0
02 00
3 0
03 00
0 0
00 00
1 0
01 00
2 0
02 00
3 0
03 00
8 0
08 00
9 0
09 00
A 0
0A 00
B 0
0B 00
0
00 00 00 00
EA60h
EA 60
21C0h
00 00 21 C0
0
00 00
1
00 01
N O T I C E D ' I N S T R U C T I O N | LMS4000
12
FF FF
FF FF
...
...
95
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