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Connection to a controller
9.2 Connection via Ethernet UDP
9.2.2
Principle of data exchange via UDP
Data structures / UDP interface
The "UDP input data" and "UDP output data" tables show the data structures that are exchanged
cyclically.
UDP: "Receive" application-specific user data
Table 9-9
"Receive" application-specific user data
Byte
Name
no.
0-1
Application-specific control
word
2-3
Reserved
4-7
Current hoist position
UDP: "Send" application-specific user data
Table 9-10
"Send" application-specific user data
Byte
Name
no.
0-1
Reserved
2-3
Err_PD
4-7
Deflection in X direction
8-11
Deflection in Y direction
12-15
Skew
16-19
Distance between the cam‐
era and the reflector
20-23
Velocity in X direction
24-27
Velocity in Y direction
28-31
Rotation velocity
32-35
Distance change
36-39
Frame counter
40-43
Skew of additional reflector
(Skew2)
44-47
Rotation velocity Skew2
48
Reflector detection
49-51
Reserved
130
Unit
Data type
-
Word
-
-
mm
Int32
Unit
Data type
-
-
-
Word
mm
Int32
mm
Int32
1/100 degrees
Int32
mm
Int32
mm/s
Int32
mm/s
Int32
1/100 de‐
Int32
grees/s
mm/s
Int32
-
UInt32
1/100 degrees
Int32
1/100 de‐
Int32
grees/s
%
UInt8
-
-
Description
See Table 9-5 "Receive" application-specific user data
(Page 125)
Description
Application-specific status word (see Table 9-4 Applica‐
tion-specific status word (Page 124))
Skew measurement using the additional reflector is only
operational if it is activated in the camera.
Skew measurement using the additional reflector is only
operational if it is activated in the camera.
Detection probability of reflector
•
0 = Negative
•
100 = Positive
-
-
-
-
-
-
-
-
-
-
-
-
-
SIMOCRANE CenSOR
Operating Instructions, 07/2021
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