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Summary of Contents for SICK LD-MRS 400001S01
- Page 1 CAN data protocol LD-MRS 400001S01 LD-MRS 400102S01 LD-MRS 800001S01 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 1 of 26...
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Page 2: Table Of Contents
LD-MRS parameter list Examples LD-MRS error/warning Error register 1 Error register 2 Warning register 1 Warning register 2 Ego motion information 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 2 of 26... -
Page 3: Introduction
0x509 (unused) base ID+10 0x50A Command to the sensor. base ID+11 0x50B Reply from the sensor (for each received 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 3 of 26... -
Page 4: Message Format
Data encoding is big endian (Motorola) for all messages except command, command reply and errors and warnings, which use little endian (Intel). 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 4 of 26... -
Page 5: Object Data
0 = boxes are object boxes (aligned to object), 1 = boxes are bounding boxes (aligned to axes of coordinate system). bits 2…7: reserved 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 5 of 26... -
Page 6: Timestamp: Can Base Id + 0X1 (E.g. 0X501)
Please refer to this image for clarification of the bits and bytes used for each information: Byte Object ID Position X Position Y Velocity X Velocity Y 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 6 of 26... -
Page 7: Tracking2: Can Base Id + 0X3 (E.g. 0X503)
In this case the box size is always given in the reference coordinate system. 0x8000 indicates an invalid orientation. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 7 of 26... -
Page 8: Contour Header: Can Base Id + 0X6 (E.g. 0X506)
2 INT8 Add these offsets to the position of the (e.g. point 1) previous point. Calculate the position for 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 8 of 26... - Page 9 Counter for header and trailer message (to be able to match header and trailer) Unused byte 4 - 7 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 9 of 26...
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Page 10: Command Interface
Send the message ID=0x50A, DLC=2, Data=00 00. This will immediately reset the sensor. Note that no reply is sent from the sensor. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 10 of 26... -
Page 11: Saveconfig
Read a single Parameter with its index from the LD-MRS. Parameter index UINT16 Refer to LD-MRS parameter list (4.2) 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 11 of 26... -
Page 12: Load Factory Defaults
Example: Send the message ID=0x50A, DLC=2, Data=20 00. Reply from the sensor is the message ID=0x50B, DLC=8, Data=20 00 00 00 00 00 00 00. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 12 of 26... -
Page 13: Stop Measure
Note that in order to set the time, you must send the fractional seconds with the command SetNTPTimestampFracSec command next! 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 13 of 26... -
Page 14: Setntptimestampfracsec
Fractional seconds (NTP format). The command SetNTPTimestampFracSec will be acknowledged by the same command ID without any command reply data. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 14 of 26... -
Page 15: Ld-Mrs Parameter List
Used to reduce transmitted objects via CAN. Decision which objects are discarded is based on this criterion. 0: Radial 1: Look ahead 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 15 of 26... - Page 16 LDMRS800001.S01 only 0: full sensitivity (default) 1: lower 4 layers reduced 2: upper 4 layers reduced 3: both reduced 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 16 of 26...
- Page 17 (Yaw->Pitch- >Roll-> Translation). 0x1204 SensorMounting_Pit INT16 In 1/32°, order of translation and rotation is essential (Yaw->Pitch- >Roll-> Translation). 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 17 of 26...
- Page 18 Verweisquelle konnte nicht gefunden werden. for details. This setting is non-persistent and has to be re-activated after each reboot. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 18 of 26...
- Page 19 This is the start angle of the first sector. The angular resolution for this sector is set with parameter 0x4009. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 19 of 26...
- Page 20 INT16 Sector 6 …see above. 0x400F Angular resolution, INT16 Sector 7 …see above. 0x4010 Angular resolution, INT16 Sector 8 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 20 of 26...
- Page 21 4,8,16 or 32 (0.125°, 0.25°, 0.5°, 1°) 0x0072: The number of sectors is larger than 8 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 21 of 26...
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Page 22: Examples
0x00 Parameter index: 0x1000 (IP Address) UINT16 0x10 0xC8 0x24 Parameter data (here: 10.152.36.200, UINT64 resp. 0x0A9824C8) 0x98 0x0A 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 22 of 26... -
Page 23: Ld-Mrs Error/Warning
Bit 10 contact support Bit 11 contact support Bit 12 contact support Bit 13 contact support Bit 14-15 Reserved 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 23 of 26... -
Page 24: Error Register 2
If error persists, contact support. This bit is available in firmware v2.2.09 and 3.02 or newer. Bits 12- reserved 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 24 of 26... -
Page 25: Warning Register 1
This bit is available in Firmware v2.2.09 and 3.02 or newer. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 25 of 26... -
Page 26: Ego Motion Information
Set to 2. bytes 1…2 Yaw rate in 0.0001 rad/s. Two’s Yaw rate INT16 complement. To the left: positive values. 8014493/ YDB5/2014-11-25 © SICK AG · Germany · All rights reserved · Subject to change without notice Page 26 of 26...
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