API | CoLa Telegrams

This reference lists the CoLa telegrams supported by the LRS4000. Use the command details to build or troubleshoot PLC and other low-level integrations without guessing the telegram structure. For connection setup, framing, and log in, see CoLa Interface.

Entries follow the telegram order in the LRS4000 operating instructions. Detailed entries list request and response structures, examples, variable types, lengths, and CoLa A and CoLa B values where applicable.

Every entry uses the same layout, as in the first entry, Log In: a telegram structure table with the variable type, length, and the values in CoLa A and CoLa B, followed by examples that you can copy.

Examples are grouped by protocol, with each telegram representation in a separate code block and its own copy button.

Categories follow the LRS4000 REST API reference where corresponding CoLa telegrams are available. Select a telegram to expand its structure and examples. A direct link to a telegram opens it automatically. The categories organize the reference; availability still depends on the device variant, firmware, and installed software packages.

General

METHOD

Log In [sMN SetAccessMode]

The password hashes of the default passwords are documented in the operating instructions (PDF) of your device. Do not pass them on, and change the passwords during commissioning.

A log in to the device is necessary to change parameters. In most cases, the user level 'Authorized client' is needed. Changed parameters are reset to the previous state via a reboot unless they are saved. To save parameter changes, send "sMN mEEwriteall" before logging out.

Telegram structure: sMN SetAccessMode

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	User level	String	13		SetAccessMode	53 65 74 41 63 63 65 73 73 4D 6F 64 65
User level	Select user level	Int_8	1	Maintenance: Authorized client: Service:	2 3 4	02 03 04
Password	Hash value for the selected user level	Uint_32	4	Maintenance: Authorized client: Service:	<password hash>	<password hash>

Example: sMN SetAccessMode - Log in as “Authorized client”

CoLa A (ASCII)

<STX>sMN{SPC}SetAccessMode{SPC}3{SPC}<password hash><ETX>

<STX>sMN SetAccessMode 3 <password hash><ETX>

sMN SetAccessMode 3 <password hash>

Telegram structure: sAN SetAccessMode

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	User level	String	13		SetAccessMode	53 65 74 41 63 63 65 73 73 4D 6F 64 65
Change user level	Changed level	Bool_1	1	Error: Success:	0 1	00 01

Example: sAN SetAccessMode

CoLa A (ASCII)

<STX>sAN{SPC}SetAccessMode{SPC}1<ETX>

02 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 01 38

METHOD

Load Factory Defaults [sMN mSCloadfacdef]

The Factory-Reset (Load factory defaults) deletes the entire parametrization of the device. All parameters, settings and system applications will be set to default.

Telegram structure: sMN mSCloadfacdef

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Load factory defaults	String	13		mSCloadfacdef	6D 53 43 6C 6F 61 64 66 61 63 64 65 66

Example: sMN mSCloadfacdef

CoLa A (ASCII)

<STX>sMN{SPC}mSCloadfacdef<ETX>

<STX>sMN mSCloadfacdef<ETX>

sMN mSCloadfacdef

02 73 4D 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 4D 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 28

73 4D 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66

Telegram structure: sAN mSCloadfacdef

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Load factory defaults	String	13		mSCloadfacdef	6D 53 43 6C 6F 61 64 66 61 63 64 65 66

METHOD

Load Application Defaults [sMN mSCloadappdef]

The Application-Reset (Load application defaults) deletes only the user parametrization of the Fields, Evaluation cases (EVC) and parameters under the header “Application”. Other parameters like Interface settings, Echo Filter, etc. remain unaffected.

Telegram structure: sMN mSCloadappdef

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Load application defaults	String	13		mSCloadappdef	6D 53 43 6C 6F 61 64 61 70 70 64 65 66

Example: sMN mSCloadappdef

CoLa A (ASCII)

<STX>sMN{SPC}mSCloadappdef<ETX>

<STX>sMN mSCloadappdef<ETX>

sMN mSCloadappdef

02 73 4D 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 4D 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 2D

73 4D 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66

Telegram structure: sAN mSCloadappdef

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Load application defaults	String	13		mSCloadappdef	6D 53 43 6C 6F 61 64 61 70 70 64 65 66

Example: sAN mSCloadappdef

CoLa A (ASCII)

<STX>sAN{SPC}mSCloadappdef<ETX>

02 73 41 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 41 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 20 01

METHOD

Check Password [sMN CheckPassword]

Check the password for a specific user level, e.g. to verify if it has been changed correctly.

Telegram structure: sMN CheckPassword

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Check password request	String	13		CheckPassword	43 68 65 63 6B 50 61 73 73 77 6F 72 64
User level	User level to check the password for	Int_8	1	Maintenance: Authorized client: Service:	2 3 4	02 03 04
Password	Hash value of the password to be checked	Uint_32	4		<Hash value>

Check password “testtest” for 'Authorized client'.

Example: sMN CheckPassword

CoLa A (ASCII)

<STX>sMN{SPC}CheckPassword{SPC}3{SPC}1920E4C9<ETX>

<STX>sMN CheckPassword 3 1920E4C9<ETX>

sMN CheckPassword 3 1920E4C9

02 73 4D 4E 20 43 68 65 63 6B 50 61 73 73 77 6F 72 64 20 33 20 31 39 32 30 45 34 43 39 03

CoLa B (binary)

02 02 02 02 00 00 00 17 73 4D 4E 20 43 68 65 63 6B 50 61 73 73 77 6F 72 64 20 03 19 20 E4 C9 1E

73 4D 4E 20 43 68 65 63 6B 50 61 73 73 77 6F 72 64 20 03 19 20 E4 C9

Telegram structure: sAN CheckPassword

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Check password request	String	13		CheckPassword	43 68 65 63 6B 50 61 73 73 77 6F 72 64
Success	Confirmation	Int_8	1	Failed: Success:	0 1	00 01

Example: sAN CheckPassword

CoLa A (ASCII)

<STX>sAN{SPC}CheckPassword{SPC}1<ETX>

02 73 41 4E 20 43 68 65 63 6B 50 61 73 73 77 6F 72 64 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 41 4E 20 43 68 65 63 6B 50 61 73 73 77 6F 72 64 20 01 04

METHOD

Save Parameters Permanently [sMN mEEwriteall]

Save all parameter changes of the device. Must be sent before logging off and/ or hardware rebooting of the device. Else all changes will be lost.

Telegram structure: sMN mEEwriteall

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Store parameters permanently	String	11		mEEwriteall	6D 45 45 77 72 69 74 65 61 6C 6C

Example: sMN mEEwriteall

CoLa A (ASCII)

<STX>sMN{SPC}mEEwriteall<ETX>

<STX>sMN mEEwriteall<ETX>

sMN mEEwriteall

02 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 21

73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C

Telegram structure: sAN mEEwriteall

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Store parameters permanently	String	11		mEEwriteall	6D 45 45 77 72 69 74 65 61 6C 6C
Status code	Accepted when value is 1	Bool_1	1	Error: Success:	0 1	00 01

Example: sAN mEEwriteall

CoLa A (ASCII)

<STX>sAN{SPC}mEEwriteall{SPC}1<ETX>

02 73 41 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 41 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 20 01 0C

METHOD

Set to Run [sMN Run]

Log out from device and activate all parameter changes.

Telegram structure: sMN Run

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Start the device	String	3		Run	52 75 6E

Example: sMN Run

CoLa A (ASCII)

<STX>sMN{SPC}Run<ETX>

<STX>sMN Run<ETX>

sMN Run

02 73 4D 4E 20 52 75 6E 03

CoLa B (binary)

02 02 02 02 00 00 00 07 73 4D 4E 20 52 75 6E 19

73 4D 4E 20 52 75 6E

Telegram structure: sAN Run

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Start the device	String	3		Run	52 75 6E
Status code	Accepted when value is 1	Bool_1	1	Error: Success:	0 1	00 01

Example: sAN Run

CoLa A (ASCII)

<STX>sAN{SPC}Run{SPC}1<ETX>

02 73 41 4E 20 52 75 6E 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 09 73 41 4E 20 52 75 6E 20 01 34

METHOD

Reboot Device [sMN mSCreboot]

This command includes saving all parameters.

Telegram structure: sMN mSCreboot

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Reboot device	String	9		mSCreboot	6D 53 43 72 65 62 6F 6F 74

Example: sMN mSCreboot

CoLa A (ASCII)

<STX>sMN{SPC}mSCreboot<ETX>

<STX>sMN mSCreboot<ETX>

sMN mSCreboot

02 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 2C

73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74

Telegram structure: sAN mSCreboot

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Reboot device	String	9		mSCreboot	6D 53 43 72 65 62 6F 6F 74

Example: sAN mSCreboot

CoLa A (ASCII)

<STX>sAN{SPC}mSCreboot<ETX>

02 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 20 00

Status

READ

Ask for Device Measurement State [sRN LMCmeasstate]

Ask for Device Measurement State.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN LMCmeasstate

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Ask for measurement state	String	12	CoLa A: LMCmeasstate

Response: sRA LMCmeasstate

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Ask for measurement state	String	12	CoLa A: LMCmeasstate
Current measurement state	Enum_16	2	Idle: Ready 2D: Measure 2D: Other state codes may show up during booting, firmware update or transition between states. CoLa A: 3 6 7

Request example

CoLa A (ASCII)

<STX>sRN LMCmeasstate<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 10 73 52 4E 20 4C 4D 43 6D 65 61 73 73 74 61 74 65 60

Response example

CoLa A (ASCII)

<STX>sRA LMCmeasstate 7<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 13 73 52 41 20 4C 4D 43 6D 65 61 73 73 74 61 74 65 20 00 07 48

READ

Read the Device State [sRN SCdevicestate]

This telegram reads the general device state.

Telegram structure: sRN SCdevicestate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read the device state	String	13		SCdevicestate	53 43 64 65 76 69 63 65 73 74 61 74 65

Example: sRN SCdevicestate

CoLa A (ASCII)

<STX>sRN{SPC}SCdevicestate<ETX>

<STX>sRN SCdevicestate<ETX>

sRN SCdevicestate

02 73 52 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 52 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 30

73 52 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65

Telegram structure: sRA SCdevicestate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Read the device state	String	13		SCdevicestate	53 43 64 65 76 69 63 65 73 74 61 74 65
Status code	Code number	Enum_8	1	Busy / logged-in: Ready: Error:	0 1 2	00 01 02

Example: sRA SCdevicestate

CoLa A (ASCII)

<STX>sRA{SPC}SCdevicestate{SPC}1<ETX>

02 73 52 41 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 52 41 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 01 1E

Device

READ

Read Device Order Number [sRN DIornr]

Read device order number.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN DIornr

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Read device order number	String	6	CoLa A: DIornr

Response: sRA DIornr

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Read device order number	String	6	CoLa A: DIornr
Number of characters of the following order number	Int_8	1	Fix: CoLa A: 7h
Order number in 7 digits	String	7	CoLa A: 0000000 … 9999999

Request example

CoLa A (ASCII)

<STX>sRN DIornr<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 44 49 6F 72 6E 72 43

Response example

CoLa A (ASCII)

<STX>sRA DIornr 7 1098855<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 13 73 52 41 20 44 49 6F 72 6E 72 20 07 31 30 39 38 38 35 35 53

READ

Read Firmware Version [sRN DeviceIdent]

Telegram structure: sRN DeviceIdent

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read firmware version	String	11		DeviceIdent	44 65 76 69 63 65 49 64 65 6E 74

Example: sRN DeviceIdent

CoLa A (ASCII)

<STX>sRN{SPC}DeviceIdent<ETX>

<STX>sRN DeviceIdent<ETX>

sRN DeviceIdent

02 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 25

73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74

Telegram structure: sRA DeviceIdent

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command		String	11		DeviceIdent	44 65 76 69 63 65 49 64 65 6E 74
Value	Length of firmware designation	Enum_16	2		0 ... 22h	0 ... 22h
Value	Firmware designation for device family	String			(See example)	(See example)
Value	Length of firmware version	Enum_16	2		0 ... 22h	0 ... 22h
Value	Firmware version	String			(See example)	(See example)

READ

Read Serial Number [sRN SerialNumber]

Read the serial number of the device.

Telegram structure: sRN SerialNumber

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read serial number of the device	String	12		SerialNumber	53 65 72 69 61 6C 4E 75 6D 62 65 72

Example: sRN SerialNumber

CoLa A (ASCII)

<STX>sRN{SPC}SerialNumber<ETX>

<STX>sRN SerialNumber<ETX>

sRN SerialNumber

02 73 52 4E 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 03

CoLa B (binary)

02 02 02 02 00 00 00 10 73 52 4E 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 4C

73 52 4E 20 53 65 72 69 61 6C 4E 75 6D 62 65 72

Telegram structure: sRA SerialNumber

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Read serial number of the device	String	12		SerialNumber	53 65 72 69 61 6C 4E 75 6D 62 65 72
Length of serial number	Number of characters of the serial number	Uint_16	2		0 ... 8h	00 00 ... 00 08h
Serial number	Production period (year, calendar week, number): YYWWxxxx	String	8		(See example)	(See example)

Example: sRA SerialNumber

CoLa A (ASCII)

<STX>sRA{SPC}SerialNumber{SPC}8{SPC}23360024<ETX>

02 73 52 41 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 20 38 20 32 33 33 36 30 30 32 34 03

CoLa B (binary)

02 02 02 02 00 00 00 1B 73 52 41 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 20 00 08 32 33 33 36 30 30 32 34 69

READ

Read Device Type [sRN DItype]

This telegram asks for the device type of the product family.

Telegram structure: sRN DItype

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Ask state	String	6		DItype	44 49 74 79 70 65

Example: sRN DItype

CoLa A (ASCII)

<STX>sRN{SPC}DItype<ETX>

<STX>sRN DItype<ETX>

sRN DItype

02 73 52 4E 20 44 49 74 79 70 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 44 49 74 79 70 65 5A

73 52 4E 20 44 49 74 79 70 65

Telegram structure: sRA DItype

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Ask state	String	6		DItype	44 49 74 79 70 65
Length of type key	Number of digits of the following type code length	Uint_8	1		0d … 255d (0h … FFh)	00 … FF
Device type	Type code of the device	String	(var.)		(Device type)	(Device type)

sRA DItype Example for picoScan150:

CoLa A (ASCII)

<STX>sRA{SPC}DItype{SPC}B{SPC}picoScan150<ETX>

02 73 52 41 20 44 49 74 79 70 65 20 42 20 70 69 63 6F 53 63 61 6E 31 35 30 03

CoLa B (binary)

02 02 02 02 00 00 00 18 73 52 41 20 44 49 74 79 70 65 20 00 0B 70 69 63 6F 53 63 61 6E 31 35 30 60

WRITE

Set Device Name [sWN LocationName]

Give the device a specific description name such as its location.

Telegram structure: sWN LocationName

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set device name	String	12		LocationName	4C 6F 63 61 74 69 6F 6E 4E 61 6D 65
Value	Number of characters of the following device name	Uint_16	2		0d … +16d (0h … 10h )	00 00 … 00 10
Value	Device name	String	32		[Device name]	[Device name]

Telegram structure: sWA LocationName

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set device name	String	12		LocationName	4C 6F 63 61 74 69 6F 6E 4E 61 6D 65

Example: sWA LocationName

CoLa A (ASCII)

<STX>sWA{SPC}LocationName<ETX>

02 73 57 41 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 57 41 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 20 7F

READ

Read Device Name [sRN LocationName]

Read the given name of the device (Default is the serial number of the device).

Telegram structure: sRN LocationName

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read device name	String	12		LocationName	4C 6F 63 61 74 69 6F 6E 4E 61 6D 65

Example: sRN LocationName

CoLa A (ASCII)

<STX>sRN{SPC}LocationName<ETX>

<STX>sRN LocationName<ETX>

sRN LocationName

02 73 52 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 03

CoLa B (binary)

02 02 02 02 00 00 00 10 73 52 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 55

73 52 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65

Telegram structure: sRA LocationName

The response contains the same length-prefixed device-name value described for sWN LocationName above.

Basic Settings

READ

Read for Frequency and Angular Resolution [sRN LMPscancfg]

Read the scanning frequency, angular resolution and aperture angle of the device. Values show the information of the values before any filters are applied. Therefore aperture angle is always showing the maximum, scanning frequency and angular resolution may also be static depending on device family.

Telegram structure: sRN LMPscancfg

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Info of scan frequency and angular resolution	String	10		LMPscancfg	4C 4D 50 73 63 61 6E 63 66 67

Example: sRN LMPscancfg

CoLa A (ASCII)

<STX>sRN{SPC}LMPscancfg<ETX>

<STX>sRN LMPscancfg<ETX>

sRN LMPscancfg

02 73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67 63

73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67

Telegram structure: sRA LMPscancfg

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Info of scan frequency and angular resolution	String	10		LMPscancfg	4C 4D 50 73 63 61 6E 63 66 67
Scan frequency	[1/100 Hz]	Uint_32	4	12.5 Hz: 25 Hz:	4E2h 9C4h	00 00 04 E2 00 00 09 C4
Reserved	-	Int_16	2	Always:	1	00 01
Angular resolution	[1/10000°]	Uint_32	4	12.5 Hz: 0.02°, 0.04°, 0.06°, 0.1°, 0.12° 25 Hz: 0.04°, 0.08°, 0.12°, 0.2°, 0.24°	C8h … 4B0h 190h … 960h	00 00 00 C8 … 00 00 04 B0 00 00 01 90 … 00 00 09 60
Start angle	[1/10000°]	Int_32	4	-180° ... +180°	FFE488C0h … 1B7740h	FF E4 88 C0 … 00 1B 77 40
Stop angle	[1/10000°]	Int_32	4	-180° ... +180°	FFE488C0h … 1B7740h	FF E4 88 C0 … 00 1B 77 40

Example: sRA LMPscancfg - 25 Hz scan frequency, 0.24° angular resolution, -180° start angle, +180° stop angle

CoLa A (ASCII)

<STX>sRA{SPC}LMPscancfg{SPC}9C4{SPC}1{SPC}960{SPC}FFE488C0{SPC}1B7740<ETX>

02 73 52 41 20 4C 4D 50 73 63 61 6E 63 66 67 20 39 43 34 20 31 20 39 36 30 20 46 46 45 34 38 38 43 30 20 31 42 37 37 34 30 03

CoLa B (binary)

02 02 02 02 00 00 00 21 73 52 41 20 4C 4D 50 73 63 61 6E 63 66 67 20 00 00 09 C4 00 01 00 00 09 60 FF E4 88 C0 00 1B 77 40 96

METHOD

Set Scan Configuration [sMN mCLsetscancfglist]

Set scan configuration.

Access: Authorized client user level is required.

Request: sMN mCLsetscancfglist

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Method	String	3	CoLa A: sMN
Set scan configuration	String	17	CoLa A: mCLsetscancfglist
Scan configuration (see table below)	Enum_8	1	Normal mode: 12.5Hz & 0.020°: 12.5Hz & 0.040°: 12.5Hz & 0.060°: 12.5Hz & 0.100°: 12.5Hz & 0.120°: 25Hz & 0.040°: 25Hz & 0.080°: 25Hz & 0.120°: 25Hz & 0.200°: 25Hz & 0.240°: Extended range mode: 12,5Hz & 0.240° 12,5Hz & 0.120° 12,5Hz & 0.080° 12,5Hz & 0.040° 25Hz & 0.480° 25Hz & 0.240° 25Hz & 0.160° 25Hz & 0.080° CoLa A: 11d (0Bh) 1d (1h) 2d (2h) 4d (4h) 5d (5h) 71d (47h) 61d (3Dh) 62d (3Eh) 64d (40h) 65d (41h) 31d (1Fh) 32d (20h) 33d (21h) 35d (23h) 91d (5Bh) 92d (5Ch) 93d (5Dh) 95d (5Fh)

Response: sAN mCLsetscancfglist

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sAN
Set scan configuration	String	17	CoLa A: mCLsetscancfglist
Wrong setting	Enum_8	1	Ok:: 0 Error frequency:: 1 Error resolution:: 2 Error resolution and frequency:: 3 Error Range error:: 4 General Error:: 5

The selected scan configuration changes scan frequency, angular resolution, field of view, and interlace mode. The sensor may need up to 30 seconds to apply a changed configuration.

Request example

CoLa A (ASCII)

<STX>sMN mCLsetscancfglist 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 17 73 4D 4E 20 6D 43 4C 73 65 74 73 63 61 6E 63 66 67 6C 69 73 74 20 01 0E

Response example

CoLa A (ASCII)

<STX>sAN mCLsetscancfglist 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 17 73 41 4E 20 6D 43 4C 73 65 74 73 63 61 6E 63 66 67 6C 69 73 74 20 00 03

METHOD

Activate Standby Mode [sMN LMCstandby]

Shut off the laser in order to extend the lifetime of laser diode and reduce motor speed to 25 Hz.

Telegram structure: sMN LMCstandby

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Set device to standby	String	10		LMCstandby	4C 4D 43 73 74 61 6E 64 62 79

Example: sMN LMCstandby

CoLa A (ASCII)

<STX>sMN{SPC}LMCstandby<ETX>

<STX>sMN LMCstandby<ETX>

sMN LMCstandby

02 73 4D 4E 20 4C 4D 43 73 74 61 6E 64 62 79 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 4D 4E 20 4C 4D 43 73 74 61 6E 64 62 79 65

73 4D 4E 20 4C 4D 43 73 74 61 6E 64 62 79

Telegram structure: sAN LMCstandby

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Set device to standby	String	10		LMCstandby	4C 4D 43 73 74 61 6E 64 62 79
Status code	Accepted when value is 0	Enum_8	1	Success: Not allowed:	0 1	00 01

Example: sAN LMCstandby

CoLa A (ASCII)

<STX>sAN{SPC}LMCstandby{SPC}0<ETX>

02 73 41 4E 20 4C 4D 43 73 74 61 6E 64 62 79 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 10 73 41 4E 20 4C 4D 43 73 74 61 6E 64 62 79 20 00 49

METHOD

Start Measurement [sMN LMCstartmeas]

Start the laser and (unless in Standby mode) the motor of the device

Telegram structure: sMN LMCstartmeas

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Start measurement	String	12		LMCstartmeas	4C 4D 43 73 74 61 72 74 6D 65 61 73

Example: sMN LMCstartmeas

CoLa A (ASCII)

<STX>sMN{SPC}LMCstartmeas<ETX>

<STX>sMN LMCstartmeas<ETX>

sMN LMCstartmeas

02 73 4D 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 03

CoLa B (binary)

02 02 02 02 00 00 00 10 73 4D 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 68

73 4D 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73

Telegram structure: sAN LMCstartmeas

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Start measurement	String	12		LMCstartmeas	4C 4D 43 73 74 61 72 74 6D 65 61 73
Status code	Accepted when value is 0	Enum_8	1	Success: Not allowed:	0 1	00 01

Example: sAN LMCstartmeas

CoLa A (ASCII)

<STX>sAN{SPC}LMCstartmeas{SPC}0<ETX>

02 73 41 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 41 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 20 00 44

WRITE

Set Sensitivity Mode [sWN SensitivityMode]

Define a sensitivity mode for the detection of reflectors .

Telegram structure: sWN SensitivityMode

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Sensitivity Mode	String	15		SensitivityMode	53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65
Sensitivity	Choose Sensitivity Mode	Enum_8	1	Maximum robustness: Standard (recommended): Maximum detectivity:	0 1 2	00 01 02

Example: sWN SensitivityMode

CoLa A (ASCII)

<STX>sWN{SPC}SensitivityMode{SPC}1<ETX>

<STX>sWN SensitivityMode 1<ETX>

sWN SensitivityMode 1

02 73 57 4E 20 53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 15 73 57 4E 20 53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65 20 01 05

73 57 4E 20 53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65 20 01

Telegram structure: sWA SensitivityMode

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Sensitivity Mode	String	15		SensitivityMode	53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65

Example: sWA SensitivityMode

CoLa A (ASCII)

<STX>sWA{SPC}SensitivityMode<ETX>

02 73 57 41 20 53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65 03

CoLa B (binary)

02 02 02 02 00 00 00 14 73 57 41 20 53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65 20 0B

Date and System Time

WRITE

Set Time Synchronization [sWN TSCRole]

Set the device synchronization mode.

Telegram structure: sWN TSCRole

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set timestamp role	String	7		TSCRole	54 53 43 52 6F 6C 65
Status	Timestamp role	Uint_8	1	Off: NTP: PTP:	0 1 3	00 01 03

Example: sWN TSCRole

CoLa A (ASCII)

<STX>sWN{SPC}TSCRole{SPC}1<ETX>

<STX>sWN TSCRole 1<ETX>

sWN TSCRole 1

02 73 57 4E 20 54 53 43 52 6F 6C 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 57 4E 20 54 53 43 52 6F 6C 65 20 01 1B

73 57 4E 20 54 53 43 52 6F 6C 65 20 01

Telegram structure: sWA TSCRole

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set timestamp role	String	7		TSCRole	54 53 43 52 6F 6C 65

Example: sWA TSCRole

CoLa A (ASCII)

<STX>sWA{SPC}TSCRole<ETX>

02 73 57 41 20 54 53 43 52 6F 6C 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 57 41 20 54 53 43 52 6F 6C 65 20 15

METHOD

Set Time Stamp [sMN LSPsetdatetime]

The data format in the telegram is: +2009{SPC}+7{SPC}+22{SPC}+12{SPC}+0{SPC}+0{SPC}+0.The numbers represent year, month, day, hour, minute, second, microsecond.

If plus is used up-front the data it is interpreted as an integer decimal number, without the plus it's the scanner reads the data as hex format.

The answer is always in ASCII format.

Does only work if NTP- respectively PTP-Client is not active.

There is no real time clock inside the device. When the scanner is switched off and after a reboot, the time has to be set again. Therefore, it is recommended to use a NTP or a PTP setting.

Telegram structure: sMN LSPsetdatetime

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Set time stamp	String	14		LSPsetdatetime	4C 53 50 73 65 74 64 61 74 65 74 69 6D 65
Year		Uint_16	2		+1970d … +2099d (07B2h … 0833h)	07 B2 … 08 33
Month		Uint_8	1		+1d … +12d(01h … 0Ch)	01 … 0C
Day		Uint_8	1		+1d … +31d(01h … 1Fh)	00 … 1F
Hour		Uint_8	1		+0d … +23d(00h … 17h)	00 … 17
Minute		Uint_8	1		+0d … +59d(00h … 3Bh)	00 … 3B
Second		Uint_8	1		+0d … +59d(00h … 3Bh)	00 … 3B
Microsecond		Uint_32	4		+0d … +999999d(00000000h … 000F423Fh)	00 00 00 00 … 00 0F 42 3F

Example 2: sMN LSPsetdatetime Date: 26.01.2010; Time: 10:35

CoLa A (ASCII)

<STX>sMN{SPC}LSPsetdatetime{SPC}+2010{SPC}+01{SPC}+26{SPC}+10{SPC}+35{SPC}0{SPC}0<ETX>

<STX>sMN LSPsetdatetime +2010 +01 +26 +10 +35 0 0<ETX>

sMN LSPsetdatetime +2010 +01 +26 +10 +35 0 0

02 73 4D 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 2B 32 30 31 30 20 2B 30 31 20 2B 32 36 20 2B 31 30 20 2B 33 35 20 2B 30 30 20 2B 30 30 30 30 03

CoLa B (binary)

02 02 02 02 00 00 00 1E 73 4D 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 07 DA 01 1A 0A 23 00 00 00 00 00 B3

73 4D 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 07 DA 01 1A 0A 23 00 00 00 00 00

Telegram structure: sAN LSPsetdatetime

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Set time stamp	String	14		LSPsetdatetime	4C 53 50 73 65 74 64 61 74 65 74 69 6D 65
Status code	Code number	Enum_8	1	Success:	0	00

Example 1, 2: sAN LSPsetdatetime

CoLa A (ASCII)

<STX>sAN{SPC}LSPsetdatetime{SPC}0<ETX>

02 73 41 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 14 73 41 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 00 50

Activate time stamp in the output string format or on SOPAS page “data processing”.

READ

Read Device Time [sRN DeviceTime]

Read device time.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN DeviceTime

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Parameter	String	10	CoLa A: DeviceTime

Response: sRA DeviceTime

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Parameter	String	10	CoLa A: DeviceTime
The sensor system time in milliseconds since January 1, 1970, 00:00 (UTC). If a time server is being used, the configured system time is used.	Uint_32	4	CoLa A: 0d … +9999d (0h … 270Fh)

Request example

CoLa A (ASCII)

<STX>sRN DeviceTime<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 52 4E 20 44 65 76 69 63 65 54 69 6D 65 42

Response example

CoLa A (ASCII)

<STX>sRA DeviceTime 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 13 73 52 41 20 44 65 76 69 63 65 54 69 6D 65 20 00 00 00 00 6D

WRITE

Set Time Server IP Address [sWN TSCTCSrvAddr]

Define the IP address from which the device will receive the time synchronization.

Telegram structure: sWN TSCTCSrvAddr

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set time server IP address	String	12		TSCTCSrvAddr	54 53 43 54 43 53 72 76 41 64 64 72
IP address data	Set values	Uint_8	1	First part of IP address	0 …+255d (00…FF)	00 … FF
IP address data	Set values	Uint_8	1	Second part of IP address	0 …+255d (00…FF)	00 … FF
IP address data	Set values	Uint_8	1	Third part of IP address	0 …+255d (00…FF)	00 … FF
IP address data	Set values	Uint_8	1	Fourth part of IP address	0 …+255d (00…FF)	00 … FF

Example: sWN TSCTCSrvAddr 192.168.0.11

CoLa A (ASCII)

<STX>sWN{SPC}TSCTCSrvAddr{SPC}C0{SPC}A8{SPC}00{SPC}0B<ETX>

<STX>sWN TSCTCSrvAddr C0 A8 00 0B<ETX>

sWN TSCTCSrvAddr C0 A8 00 0B

02 73 57 4E 20 54 53 43 54 43 53 72 76 41 64 64 72 20 43 30 20 41 38 20 30 30 20 30 42 03

CoLa B (binary)

02 02 02 02 00 00 00 15 73 57 4E 20 54 53 43 54 43 53 72 76 41 64 64 72 20 C0 A8 00 0B 3E

73 57 4E 20 54 53 43 54 43 53 72 76 41 64 64 72 20 C0 A8 00 0B

Telegram structure: sWA TSCTCSrvAddr

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set time server IP address	String	12		TSCTCSrvAddr	54 53 43 54 43 53 72 76 41 64 64 72

Example: sWA TSCTCSrvAddr

CoLa A (ASCII)

<STX>sWA{SPC}TSCTCSrvAddr<ETX>

02 73 57 41 20 54 53 43 54 43 53 72 76 41 64 64 72 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 57 41 20 54 53 43 54 43 53 72 76 41 64 64 72 20 52

WRITE

Set Time Zone [sWN TSCTCtimezone]

Telegram structure: sWN TSCTCtimezone

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set time zone	String	13		TSCTCtimezone	54 53 43 54 43 74 69 6D 65 7A 6F 6E 65
Time zone data	Select the time zone of the client	Enum_8	1	List of time zones	+0d … +104d (00h … 68h)	00 … 68

Time zone data Values CoLa (ASCII)

Value	Time zone	Value	Time zone	Value	Time zone
0	DATE_LINE_STANDARD	35	MONROVIA_REYKJAVIK	70	MUMBAI_NEUDELHI
1	COORD_WORLD_TIME_11	36	AMSTERDAM_BERLIN_ROM	71	SRI_JAYAWARDENEPURA
2	HAWAII	37	BELGRAD_BUDAPEST_PRAG	72	KATMANDU
3	ALASKA	38	BRUESSEL_MADRID_PARIS	73	ASTANA
4	CALIFORNIA	39	SARAJEVO_WARSCHAU	74	DAKKA
5	USA_CANADA	40	WEST_CENTRAL_AFRICA	75	NOWOSIBIRSK
6	ARIZONA	41	WINDHUK	76	YANGON
7	LA_PAZ	42	AMMAN	77	BANGKOK_HANOI_JAKARTA
8	MOUNTAIN_TIME_USA	43	ATHEN_BUKAREST	78	KRASNOJARSK
9	CENTRAL_TIME_USA	44	BEIRUT	79	IRKUTSK
10	MEXICO_CITY	45	DAMASCUS	80	KUALA_LUMPUR_SINGAPUR
11	MIDDLE_AMERICA	46	HARARE_PRETORIA	81	PEKING_HONGKONG
12	SASKATCHEWAN	47	HELSINKI_KIEW_RIGA	82	PERTH
13	BOGOTA_LIMA	48	ISTANBUL	83	TAIPEH
14	EASTERN_TIME_USA	49	JERUSALEM	84	ULAN_BATOR
15	INDIANA	50	KAIRO	85	JAKUTSK
16	CARACAS	51	KALININGRAD	86	OSAKA_TOKIO
17	ASUNCION	52	EASTERN_EUROPE	87	SEOUL
18	ATLANTIC_KANADA	53	TRIPOLIS	88	ADELAIDE
19	CUIABA	54	BAGDAD	89	DARWIN
20	LAPAZ_SANJUAN	55	KUWAIT_RIAD	90	BRISBANE
21	SANTIAGO	56	MINSK	91	CANBERRA_SYDNEY
22	NEUFUNDLAND	57	MOSKAU_PETERSBURG	92	GUAM_PORT_MORESBY
23	BRASILIA	58	NAIROBI	93	HOBART
24	BUENOS_AIRES	59	TEHERAN	94	MAGADAN
25	CAYENNE_FORTALEZA	60	ABU_DHABI	95	WLADIWOSTOK
26	GROENLAND	61	BAKU	96	SALOMONEN_KALEDONIEN
27	MONTEVIDEO	62	ERIWAN	97	TSCHOKURDACH
28	SALVADOR	63	ISCHEWSK_SAMARA	98	ANADYR
29	COORD_WORLD_TIME_02	64	PORT_LOUIS	99	AUCKLAND_WELLINGTON
30	AZOREN	65	TIFLIS	100	FIDSCHI
31	KAP_VERDE	66	KABUL	101	COORD_WORLD_TIME_12
32	CASABLANCA	67	ASCHGABET_TASCHKENT	102	NAKUALOFA
33	DUBLIN_LISSABON_LONDON	68	ISLAMABAD_KARATSCHI	103	SAMOA
34	COORD_WORLD_TIME	69	JEKATERINBURG	104	KIRITIMATI

Telegram structure: sWA TSCTCtimezone

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set time zone	String	13		TSCTCtimezone	54 53 43 54 43 74 69 6D 65 7A 6F 6E 65

Example: sWA TSCTCtimezone

CoLa A (ASCII)

<STX>sWA{SPC}TSCTCtimezone<ETX>

02 73 57 41 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 57 41 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 20 3D

WRITE

Set Update Time [sWN TSCTCupdatetime]

Define the time period after which the sensor will attempt to get the current system time for the TSC server.

Telegram structure: sWN TSCTCupdatetime

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set update time of synchronization	String	15		TSCTCupdatetime	54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65
Update time of synchronization	Set values in seconds	Uint_32	4		+1d … +3600d(01h … 0E10h)	00 00 00 00 … 00 00 0E 10

Example: sWN TSCTCupdatetime 600 s

CoLa A (ASCII)

<STX>sWN{SPC}TSCTCupdatetime{SPC}+600<ETX>

<STX>sWN TSCTCupdatetime +600<ETX>

sWN TSCTCupdatetime +600

02 73 57 4E 20 54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65 20 2B 36 30 30 03

CoLa B (binary)

02 02 02 02 00 00 00 18 73 57 4E 20 54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65 20 00 00 02 58 67

73 57 4E 20 54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65 20 00 00 02 58

Telegram structure: sWA TSCTCupdatetime

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set update time of synchronization	String	15		TSCTCupdatetime	54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65

Example: sWA TSCTCupdatetime

CoLa A (ASCII)

<STX>sWA{SPC}TSCTCupdatetime<ETX>

02 73 57 41 20 54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65 03

CoLa B (binary)

02 02 02 02 00 00 00 14 73 57 41 20 54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65 20 32

Filter

WRITE

Set Particle Filter [sWN LFPparticle]

Filter out disturbances in the meausurement data caused by particles such as dust, snow flakes or similar .

Telegram structure: sWN LFPparticle

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set particle filter	String	11		LFPparticle	4C 46 50 70 61 72 74 69 63 6C 65
Status code	Code number	Bool_1	1	Inactive: Active:	0 1	00 01
Threshold1)	Particle threshold in mm	Uint_16	2	(must be taken)	+500d (1F4h)	01 F4

Never change the threshold here, it is taken by the device to handle the particles.

Example: sWN LFPparticle

CoLa A (ASCII)

<STX>sWN{SPC}LFPparticle{SPC}1{SPC}+500<ETX>

<STX>sWN LFPparticle 1 +500<ETX>

sWN LFPparticle 1 +500

02 73 57 4E 20 4C 46 50 70 61 72 74 69 63 6C 65 20 31 20 2B 35 30 30 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 57 4E 20 4C 46 50 70 61 72 74 69 63 6C 65 20 01 01 F4 D0

73 57 4E 20 4C 46 50 70 61 72 74 69 63 6C 65 20 01 01 F4

Telegram structure: sWA LFPparticle

Telegram part	Description	Variable	Length	Sensor	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set particle filter	String	11		LFPparticle	4C 46 50 70 61 72 74 69 63 6C 65

Example: sWA LFPparticle

CoLa A (ASCII)

<STX>sWA{SPC}LFPparticle<ETX>

02 73 57 41 20 4C 46 50 70 61 72 74 69 63 6C 65 03

CoLa B (binary)

02 02 02 02 00 00 00 10 73 57 41 20 4C 46 50 70 61 72 74 69 63 6C 65 20 2B

WRITE

Set Average Filter [sWN LFPmeanfilter]

Set average filter.

Access: Authorized client user level is required.

Request: sWN LFPmeanfilter

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set average filter	String	13	CoLa A: LFPmeanfilter
Code number	Bool_1	1	Inactive:: 0 Active:: 1
Number	Uint_16	2	CoLa A: +2d … +100d (00 02h … 00 64h)
-	Enum_8	1	Always: CoLa A: 0

Response: sWA LFPmeanfilter

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set average filter	String	13	CoLa A: LFPmeanfilter

Request example

CoLa A (ASCII)

<STX>sWN LFPmeanfilter 1 +10 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 16 73 57 4E 20 4C 46 50 6D 65 61 6E 66 69 6C 74 65 72 20 01 00 0A 00 3C

Response example

CoLa A (ASCII)

<STX>sWA LFPmeanfilter<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 11 73 57 41 20 4C 46 50 6D 65 61 6E 66 69 6C 74 65 72 18

WRITE

Set Echo Filter [sWN FREchoFilter]

Only available with firmware versions > V1.10.

Select which measurement value(s) shall be send via LMDscanata, if the meausrement of one angular position returns several distance values

Telegram structure: sWN FREchoFilter

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set echo filter	String	12		FREchoFilter	46 52 45 63 68 6F 46 69 6C 74 65 72
Status code	Code number	Enum_8	1	First echo: All echos: Last echo:	0 1 2	00 01 02

Example: sWN FREchoFilter

CoLa A (ASCII)

<STX>sWN{SPC}FREchoFilter{SPC}1<ETX>

<STX>sWN FREchoFilter 1<ETX>

sWN FREchoFilter 1

02 73 57 4E 20 46 52 45 63 68 6F 46 69 6C 74 65 72 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 57 4E 20 46 52 45 63 68 6F 46 69 6C 74 65 72 20 01 7E

73 57 4E 20 46 52 45 63 68 6F 46 69 6C 74 65 72 20 01

Telegram structure: sWA FREchoFilter

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set echo filter	String	12		FREchoFilter	46 52 45 63 68 6F 46 69 6C 74 65 72

Example: sWa FREchoFilter

CoLa A (ASCII)

<STX>sWA{SPC}FREchoFilter<ETX>

02 73 57 41 20 46 52 45 63 68 6F 46 69 6C 74 65 72 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 57 41 20 46 52 45 63 68 6F 46 69 6C 74 65 72 20 70

WRITE

Activate Median Filter [sWN LFPmedianfilter]

Activate Median filter.

Access: Authorized client user level is required.

Request: sWN LFPmedianfilter

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Sector function	String	15	CoLa A: LFPmedianfilter
Enable or disable Median filter	Bool_1	1	Disable:: 0 Enable:: 1
Number of considered measurement points and number of scans	Uint_16	2	Always: CoLa A: 3

Response: sWA LFPmedianfilter

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Sector function	String	15	CoLa A: LFPmedianfilter

Request example

CoLa A (ASCII)

<STX>sWN LFPmedianfilter 1 3<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 17 73 57 4E 20 4C 46 50 6D 65 64 69 61 6E 66 69 6C 74 65 72 20 01 00 03 38

Response example

CoLa A (ASCII)

<STX>sWA LFPmedianfilter<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 13 73 57 41 20 4C 46 50 6D 65 64 69 61 6E 66 69 6C 74 65 72 15

Contamination Indication

WRITE

Set Contamination Indication Settings [sWN ContaminationConfig]

Define how and under which conditions the device shall indicate a potential contamination of the optics cover to enable preventive cleaning.

Telegram structure: sWN ContaminationConfig

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command		String	19		ContaminationConfig	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67
Strategy	Strategy code	Enum_8	1	No output: All sectors contaminated: One sector contaminated:	0 1 2	00 01 02
Response time	How fast (in seconds) the sensor reacts after a contamination	Uint_16	2	Value range 3 ... 60 Default: 3	+3d … +60d (03h … 3Ch)	00 03 … 00 3C
Threshold warning	Sensitivity	Enum_8	1	High: Medium: Low:	0 1 2	00 01 02
Sector preselection	Selection of either custom sectors or used weather protection hood	Enum_8	1	All sectors: Weather protection hood: Custom sectors:	0 6 255d (FFh)	00 06 FF
Length		UInt_16	2	Always:	7	07
Custom sectors	Enable/ disable individual sectors when custom sectors got selected in Sector preselection	Array	7	Active: 1 Inactive: 0 Default value of all sectors is active	0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1	00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01
Enable Warning	Warning monitoring	Bool_1	1	Off (False): On (True):	0 1	00 01
Enable Error	Error monitoring	Bool_1	1	Off (False): On (True):	0 1	00 01

Telegram structure: sWA ContaminationConfig

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command		String	19		ContaminationConfig	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67

READ

Read Contamination Indication Settings [sRN ContaminationConfig]

Reads the current contamination settings that define how and under which conditions the device indicates a potential contamination of the optics cover to enable preventive cleaning.

Telegram structure: sRN ContaminationConfig

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command		String	19		ContaminationConfig	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67

Telegram structure: sRA ContaminationConfig

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command		String	19		ContaminationConfig	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67
Strategy	Strategy code	Enum_8	1	No output: All sectors contaminated: One sector contaminated:	0 1 2	00 01 02
Response time	How fast (in seconds) the sensor reacts after a contamination	Uint_16	2	Value range 3 ... 60 Default: 3	03h … 3Ch	00 03 … 00 3C
Threshold warning	Sensitivity	Enum_8	1	High: Medium: Low:	0 1 2	00 01 02
Sector preselection	Selection of either custom sectors or used weather protection hood	Enum_8	1	All sectors: Weather protection hood: Custom sectors:	0 6 FF	00 06 FF
Length		Enum_8	1	Always:	7	07
Custom sectors	Enable/ disable individual sectors when custom sectors got selected in Sector preselection	Array	7	Active: 1 Inactive: 0 Default value of all sectors is active	0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1	00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01
Enable Warning	Warning monitoring	Bool_1	1	Off (False): On (True):	0 1	00 01
Enable Error	Error monitoring	Bool_1	1	Off (False): On (True):	0 1	00 01

Example: sRA ContaminationConfig No output, response time 3 sec, All sectors active, warning enabled, error enabled

CoLa A (ASCII)

<STX>sRA{SPC}ContaminationConfig{SPC}0{SPC}3{SPC}0{SPC}0{SPC}7{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1<ETX>

02 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 20 30 20 33 20 30 20 30 20 37 20 31 20 31 20 31 20 31 20 31 20 31 20 31 20 31 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 28 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 20 00 00 03 00 00 00 07 01 01 01 01 01 01 01 01 01 0F

READ

Read Contamination Indication Data [sRN ContaminationData]

Get the current contamination indication data.

Telegram structure: sRN ContaminationData

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Reading status of all contamination sectors	String	17		ContaminationData	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61

Example: sRN ContaminationData

CoLa A (ASCII)

<STX>sRN{SPC}ContaminationData<ETX>

<STX>sRN ContaminationData<ETX>

sRN ContaminationData

02 73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 03

CoLa B (binary)

02 02 02 02 00 00 00 15 73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 3F

73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61

Telegram structure: sRA ContaminationData

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Reading status of all contamination sectors	String	17		ContaminationData	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61
Number of contamination sectors		Uint_16	2	Always:	7	00 07
Contamination data	Status of contamination of each sector	Array of Enum_8	7	Blocked: Clean: Warning: Error:	0 1 2 3	00 01 02 03

READ

Read Contamination Indication Result [sRN ContaminationResult]

This telegram is intended to read the contamination result. The telegram returns two Boolean. One for warning and one for error. Depending on the strategy of the contamination indication the state changes if one or all sectors are in the specific status (warning or error).

Telegram structure: sRN ContaminationResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command		String	19		ContaminationResult	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74

Example: sRN ContaminationResult

CoLa A (ASCII)

<STX>sRN{SPC}ContaminationResult<ETX>

<STX>sRN ContaminationResult<ETX>

sRN ContaminationResult

02 73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 03

CoLa B (binary)

02 02 02 02 00 00 00 17 73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 26

73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74

Telegram structure: sRA ContaminationResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command		String	19		ContaminationResult	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74
Contamination Result	Warning	Bool_1	1	Not active: Active:	0 1	00 01
Contamination Result	Error	Bool_1	1	Not active: Active:	0 1	00 01

Example: sRA ContaminationResult warning inactive error inactive

CoLa A (ASCII)

<STX>sRA{SPC}ContaminationResult{SPC}0{SPC}0<ETX>

02 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 20 30 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 1A 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 20 00 00 09

EVENT

Send Contamination Indication Result Permanently [sEN ContaminationResult]

This telegram is intended to activate the event for read the contamination result permanently. The telegram returns two Boolean. One for warning and one for error. Depending on the strategy of the contamination indication the state changes if one or all sectors are in the specific status (warning or error).

Telegram structure: sEN ContaminationResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sEN	73 52 4E
Command		String	19		ContaminationResult	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74
Data	Start/ Stop	Bool_1	1	Stop: Start:	0 1	00 01

Example: sEN ContaminationResult

CoLa A (ASCII)

<STX>sEN{SPC}ContaminationResult{SPC}1<ETX>

<STX>sEN ContaminationResult 1<ETX>

sEN ContaminationResult 1

02 73 45 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 19 73 45 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 20 01 10

73 45 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 20 01

Telegram structure: sSN ContaminationResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sSN	73 53 4E
Contamination Result	Warning	Bool_1	1	Not active: Active:	0 1	00 01
Contamination Result	Error	Bool_1	1	Not active: Active:	0 1	00 01

Example: sSN ContaminationResult warning active error inactive

CoLa A (ASCII)

<STX>sRA{SPC}ContaminationResult{SPC}1{SPC}0<ETX>

02 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 20 31 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 1A 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 52 65 73 75 6C 74 20 01 00 08

Ethernet

WRITE

Set IP Address [sWN EIIpAddr]

Save permanently to set values. Changes will be active after rebooting the device. Settings must correspond with network in which scanner is used. Else device cannot be found any more.

Telegram structure: sWN EIIpAddr

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set IP address	String	8		EIIpAddr	45 49 49 50 41 64 64 72
IP address	Set values	Uint_8	1	First part of IP address	0 …+255d (00 ... FF)	00 … FF
IP address	Set values	Uint_8	1	Second part of IP address	0 …+255d (00 ... FF)	00 … FF
IP address	Set values	Uint_8	1	Third part of IP address	0 …+255d (00 ... FF)	00 … FF
IP address	Set values	Uint_8	1	Fourth part of IP address	0 …+255d (00 ... FF)	00 … FF

Example: sWN EIIpAddr 192.168.0.2

CoLa A (ASCII)

<STX>sWN{SPC}EIIpAddr{SPC}C0{SPC}A8{SPC}0{SPC}2<ETX>

<STX>sWN EIIpAddr C0 A8 0 2<ETX>

sWN EIIpAddr C0 A8 0 2

02 73 57 4E 20 45 49 49 70 41 64 64 72 20 43 30 20 41 38 20 30 20 32 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 57 4E 20 45 49 49 70 41 64 64 72 20 C0 A8 00 02 06

73 57 4E 20 45 49 49 70 41 64 64 72 20 C0 A8 00 02

Telegram structure: sWA EIIpAddr

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set IP address	String	8		EIIpAddr	45 49 49 50 41 64 64 72

Example: sWA EIIpAddr

CoLa A (ASCII)

<STX>sWA{SPC}EIIpAddr<ETX>

02 73 57 41 20 45 49 49 70 41 64 64 72 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 57 41 20 45 49 49 70 41 64 64 72 20 63

READ

Read IP Address [sRN EIIpAddr]

Read the IP address of the device.

Telegram structure: sRN EIIpAddr

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read IP address	String	8		EIIpAddr	45 49 49 50 41 64 64 72

Example: sRN EIIpAddr

CoLa A (ASCII)

<STX>sRN{SPC}EIIpAddr<ETX>

<STX>sRN EIIpAddr<ETX>

sRN EIIpAddr

02 73 52 4E 20 45 49 49 70 41 64 64 72 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 52 4E 20 45 49 49 70 41 64 64 72 49

73 52 4E 20 45 49 49 70 41 64 64 72

Telegram structure: sRA EIIpAddr

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Read IP address	String	8		EIIpAddr	45 49 49 50 41 64 64 72
IP address	Default: 192.168.0.1	Uint_8	1	First part of IP address	0 …+255d (00 … FF)	00 … FF
IP address	Default: 192.168.0.1	Uint_8	1	Second part of IP address	0 …+255d (00 … FF)	00 … FF
IP address	Default: 192.168.0.1	Uint_8	1	Third part of IP address	0 …+255d (00 … FF)	00 … FF
IP address	Default: 192.168.0.1	Uint_8	1	Fourth part of IP address	0 …+255d (00 … FF)	00 … FF

WRITE

Set Ethernet Gateway [sWN EIgate]

Change Ethernet gateway IP address (TCP/IP)

Save permanently to set values. Changes will be active after rebooting the device. Settings must correspond with network in which scanner is used. Else device cannot be found any more.

Telegram structure: sWN EIgate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set gateway address	String	6		EIgate	45 49 67 61 74 65
Gateway address	Set values	Uint_8	1	First part of gateway address	0 …+255d (00…FF)	00 …FF
Gateway address	Set values	Uint_8	1	Second part of gateway address	0 …+255d (00…FF)	00 …FF
Gateway address	Set values	Uint_8	1	Third part of gateway address	0 …+255d (00…FF)	00 …FF
Gateway address	Set values	Uint_8	1	Fourth part of gateway address	0 …+255d (00…FF)	00 …FF

Example: sWN EIgate 192.168.0.1

CoLa A (ASCII)

<STX>sWN{SPC}EIgate{SPC}C0{SPC}A8{SPC}00{SPC}01<ETX>

<STX>sWN EIgate C0 A8 00 01<ETX>

sWN EIgate C0 A8 00 01

02 73 57 4E 20 45 49 67 61 74 65 20 43 30 20 41 38 20 30 30 20 30 31 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 67 61 74 65 20 C0 A8 00 01 18

73 57 4E 20 45 49 67 61 74 65 20 C0 A8 00 01

Telegram structure: sWA EIgate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set gateway address	String	6		EIgate	45 49 67 61 74 65

Example: sWA EIgate

CoLa A (ASCII)

<STX>sWA{SPC}EIgate<ETX>

02 73 57 41 20 45 49 67 61 74 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0B 73 57 41 20 45 49 67 61 74 65 20 7E

READ

Read Ethernet Gateway [sRN EIgate]

Read for the Ethernet gateway (TCP/IP)

Telegram structure: sRN EIgate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read gateway address	String	6		EIgate	45 49 67 61 74 65

Example: sRN EIgate

CoLa A (ASCII)

<STX>sRN{SPC}EIgate<ETX>

<STX>sRN EIgate<ETX>

sRN EIgate

02 73 52 4E 20 45 49 67 61 74 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 67 61 74 65 54

73 52 4E 20 45 49 67 61 74 65

Telegram structure: sRA EIgate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Read gateway address	String	6		EIgate	45 49 67 61 74 65
Gateway address	Default: 0.0.0.0	Uint_8	1	First part of gateway address	0 …+255d (00…FF)	00 … FF
Gateway address	Default: 0.0.0.0	Uint_8	1	Second part of gateway address	0 …+255d (00…FF)	00 … FF
Gateway address	Default: 0.0.0.0	Uint_8	1	Third part of gateway address	0 …+255d (00…FF)	00 … FF
Gateway address	Default: 0.0.0.0	Uint_8	1	Fourth part of gateway address	0 …+255d (00…FF)	00 … FF

WRITE

Set IP Mask [sWN EImask]

Define the subnet mask of the device.

Save permanently to set values. Changes will be active after rebooting the device. Settings must correspond with network in which scanner is used. Else device cannot be found any more.

Telegram structure: sWN EImask

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set IP mask	String	6		EImask	45 49 6D 61 73 6B
IP mask	Set values	Uint_8	1	First part of IP mask	0 …+255d (00…FF)	00 …FF
IP mask	Set values	Uint_8	1	Second part of IP mask	0 …+255d (00…FF)	00 …FF
IP mask	Set values	Uint_8	1	Third part of IP mask	0 …+255d (00…FF)	00 …FF
IP mask	Set values	Uint_8	1	Fourth part of IP mask	0 …+255d (00…FF)	00 …FF

Example: sWN EImask 255.255.254.0

CoLa A (ASCII)

<STX>sWN{SPC}EImask{SPC}FF{SPC}FF{SPC}FE{SPC}00<ETX>

<STX>sWN EImask FF FF FE 00<ETX>

sWN EImask FF FF FE 00

02 73 57 4E 20 45 49 6D 61 73 6B 20 46 46 20 46 46 20 46 45 20 30 30 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 6D 61 73 6B 20 FF FF FE 00 8C

73 57 4E 20 45 49 6D 61 73 6B 20 FF FF FE 00

Telegram structure: sWA EImask

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set IP mask	String	6		EImask	45 49 6D 61 73 6B

Example: sWA EImask

CoLa A (ASCII)

<STX>sWA{SPC}EImask<ETX>

02 73 57 41 20 45 49 6D 61 73 6B 03

CoLa B (binary)

02 02 02 02 00 00 00 0B 73 57 41 20 45 49 6D 61 73 6B 20 7D

READ

Read IP Mask [sRN EImask]

Read the subnet mask of the device.

Telegram structure: sRN EImask

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read IP mask	String	6		EImask	45 49 6D 61 73 6B

Example: sRN EImask

CoLa A (ASCII)

<STX>sRN{SPC}EImask<ETX>

<STX>sRN EImask<ETX>

sRN EImask

02 73 52 4E 20 45 49 6D 61 73 6B 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 6D 61 73 6B 57

73 52 4E 20 45 49 6D 61 73 6B

Telegram structure: sRA EImask

Telegram part	Description	Variable	Length	Sensor	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Read IP mask	String	6		EImask	45 49 6D 61 73 6B
IP mask	Default: 255.255.255.0	Uint_8	1	First part of IP mask	0 …+255d (00…FF)	00 … FF
IP mask	Default: 255.255.255.0	Uint_8	1	Second part of IP mask	0 …+255d (00…FF)	00 … FF
IP mask	Default: 255.255.255.0	Uint_8	1	Third part of IP mask	0 …+255d (00…FF)	00 … FF
IP mask	Default: 255.255.255.0	Uint_8	1	Fourth part of IP mask	0 …+255d (00…FF)	00 … FF

WRITE

Change CoLa TCP Timeout [sWN EtherColaTransmitTimeout]

Change CoLa TCP Timeout.

Access: Authorized client user level is required.

Request: sWN EtherColaTransmitTimeout

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Adjust CoLa TCP Acknowledge timeout time	String	24	CoLa A: EtherColaTransmitTimeout
New timeout time in ms	Uint_16	2	Default: 15000 CoLa A: +250d ... +15000d

Response: sWA EtherColaTransmitTimeout

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Adjust CoLa TCP Acknowledge timeout time	String	24	CoLa A: EtherColaTransmitTimeout

The timeout change takes effect after the sensor is restarted.

Request example

CoLa A (ASCII)

<STX>sWN EtherColaTransmitTimeout +250<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 57 4E 20 45 74 68 65 72 43 6F 6C 61 54 72 61 6E 73 6D 69 74 54 69 6D 65 6F 75 74 20 00 FA 8E

Response example

CoLa A (ASCII)

<STX>sWA EtherColaTransmitTimeout<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1C 73 57 41 20 45 74 68 65 72 43 6F 6C 61 54 72 61 6E 73 6D 69 74 54 69 6D 65 6F 75 74 5B

Legacy Protocols

WRITE

Enable/ Disable CoLa Scan [sWN EnableColaScan]

Enable/ disable CoLa Scan.

Access: Authorized client user level is required.

Request: sWN EnableColaScan

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set CoLa Scan / AutoIP	String	14	CoLa A: EnableColaScan
Enable/ disable	Bool_1	1	Disable:: 0 Enable:: 1

Response: sWA EnableColaScan

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set CoLa Scan / AutoIP	String	14	CoLa A: EnableColaScan

Request example

CoLa A (ASCII)

<STX>sWN EnableColaScan 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 14 73 57 4E 20 45 6E 61 62 6C 65 43 6F 6C 61 53 63 61 6E 20 01 54

Response example

CoLa A (ASCII)

<STX>sWA EnableColaScan<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 12 73 57 41 20 45 6E 61 62 6C 65 43 6F 6C 61 53 63 61 6E 7A

Webserver Settings

METHOD

Set Webserver State [sMN SetWebserverEnabled]

This command enables/ disables the Webserver. Port 80 will not be opened after a reboot.

Telegram structure: sMN SetWebserverEnabled

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Set Webserver state	String	19		SetWebserverEnabled	53 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64
State	Enable/ disable	Bool_1	1	Disable: Enable:	0 1	00 01

Telegram structure: sAN SetWebserverEnabled

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Set Webserver state	String	19		SetWebserverEnabled	53 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64

METHOD

Read Webserver State [sMN GetWebserverEnabled]

Returns state if Webserver is enabled.

Telegram structure: sMN GetWebserverEnabled

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Webserver state	String	19		GetWebserverEnabled	47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64

Example: sMN GetWebserverEnabled

CoLa A (ASCII)

<STX>sMN{SPC}GetWebserverEnabled<ETX>

<STX>sMN GetWebserverEnabled<ETX>

sMN GetWebserverEnabled

02 73 4D 4E 20 47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 03

CoLa B (binary)

02 02 02 02 00 00 00 17 73 4D 4E 20 47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 16

73 4D 4E 20 47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64

Telegram structure: sAN GetWebserverEnabled

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Webserver state	String	19		GetWebserverEnabled	47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64
State	Status of the webserver	Bool_1	1	Disabled: Enabled:	0 1	00 01

Example: sAN GetWebserverEnabled

CoLa A (ASCII)

<STX>sAN{SPC}GetWebserverEnabled{SPC}1<ETX>

02 73 41 4E 20 47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 19 73 41 4E 20 47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 20 01 3B

Inputs and Outputs

READ

Read Port Configuration of All I/Os [sRN PortConfiguration]

Read the configuration of the digital inputs and outputs.

Telegram structure: sRN PortConfiguration

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Ask for port configuration	String	12		PortConfiguration	50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E

Example: sRN PortConfiguration

CoLa A (ASCII)

<STX>sRN{SPC}PortConfiguration<ETX>

<STX>sRN PortConfiguration<ETX>

sRN PortConfiguration

02 73 52 4E 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 03

CoLa B (binary)

02 02 02 02 00 00 00 15 73 52 4E 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 26

73 52 4E 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E

Telegram structure: sRA PortConfiguration

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Configuration of all I/Os	String	12		PortConfiguration	50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E
Start of loop, number of loops = amount of all current and future Inputs and Outputs of device family
Port Type	Input or Output	Enum_8	1	Input: Output:	0 1	00 01
Port Name	Amount of characters of the following port name	Uint_16	2		0h … 20h	00 00 … 00 20
Port Name	Port name	String	16 (depending on string length)		[Port name]	[Port name]
Input Settings
Logic	Logic of the input	Bool_1	1	Active high: Active low:	0 1	00 01
Debouncing	Select debouncing time in ms	Uint_16	2	(max. 10,000ms)	0h … 2710h	00 00 … 27 10
Reserved	-	Enum_8	1	Always:	0	00
Reserved	Reserved value 1	Uint_16	2		0	00 00
Reserved	Reserved value 2	Uint_16	2		0	00 00
Output Settings
Logic	Logic of the input	Bool_1	1	Active high: Active low:	0 1	00 01
Output Mode	PNP, NPN or Push-Pull	Enum_8	1	PNP: NPN: Push-Pull:	0 1 2	00 01 02
Restart type	Restart behavior of output after event: immediately or after specific time	Enum_8	1	Immediately: Time: Input:	0 1 2	00 01 02
Restart time	[Only with restart type = Time], time in ms	Uint_32	4	(20 ms … 600,000 ms)	14h … 927C0h	00 00 00 14 … 00 09 27 C0
Restart input	[Only with restart type = Input], input for restart	Uint_16	2		1 ... 8	00 01 ... 00 08
Combination	Combining multiple Events and/or Inputs	Enum_8	1	AND: OR: XOR:	0 1 2	00 01 02
Reserved	Reserved value 3	Uint_16	2		0	00 00
Reserved	Reserved value 4	Uint_16	2		0	00 00
Sources	Amount (n) of combined sources	Uint_16	2		0h ... FFFFh	00 00 ... FF FF
Sources	Start of source loop, number of loops = amount of combined sources
Sources	Source name	String	4	Device Ready: Sopas Command:(xx = Number of output port) Indexsignal: SyncOutByClock: Input = Port Name:(INxx = Number of input port)	[Source] DRDY SCxx SROT SCLK INxx	[Source]
Sources	Source Inverted or not	Bool_1	1	Not inverted: Inverted:	0 1	00 01
Sources	Reserved value 5	Uint_8	1		0	00
Sources	Reserved value 6	Uint_8	1		0	00
Sources	Stop of source loop
Reserved	Reserved value 7	Uint_16	2		0	00 00
Reserved	Reserved value 8	Uint_16	2		0	00 00
Reserved	Reserved value 9	Uint_16	2		0	00 00
Reserved	Reserved value 10	Uint_16	2		0	00 00
Stop of loop

READ

Read State of the Inputs [sRN LIDinputstate]

Use sEN LIDinputstate 1 to receive a telegram each time an input signal (e.g. by trigger) changes.

Telegram structure: sRN LIDinputstate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Input state	String	14		LIDinputstate	4C 49 44 69 6E 70 75 74 73 74 61 74 65

Example: sRN LIDinputstate

CoLa A (ASCII)

<STX>sRN{SPC}LIDinputstate<ETX>

<STX>sRN LIDinputstate<ETX>

sRN LIDinputstate

02 73 52 4E 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 52 4E 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65 0F

73 52 4E 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65

Telegram structure: sRA LIDinputstate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Output state	String	14		LIDinputstate	4C 49 44 69 6E 70 75 74 73 74 61 74 65
Status code	Version number	Uint_16	2		0h … FFFFh	00 00 … FF FF
Status code	System counter (time in µs since power up max. 71min then starting from 0 again)	Uint_32	4		0 h … FFFFFFFFh	00 00 00 00 … FF FF FF FF
State of the inputs 1 … n	Amount of inputs (n) depending of device family	Enum_8	1	Not active: Active: Input not used:	0 1 2	00 01 02
Time	States code	Uint_16	2	No time data: Time data:	0 1	00 00 00 01
Time Block (sensor-time from the last change of min. one of the outputs)	Year	Array	2	E. g.	1970	07 B2
Time Block (sensor-time from the last change of min. one of the outputs)	Month	Array	1		1 … 12	01 … 0C
Time Block (sensor-time from the last change of min. one of the outputs)	Day	Array	1		1 … 31	01 … 1F
Time Block (sensor-time from the last change of min. one of the outputs)	Hour	Array	1		0 … 23	00 … 17
Time Block (sensor-time from the last change of min. one of the outputs)	Minute	Array	1		0 … 59	00 … 3B
Time Block (sensor-time from the last change of min. one of the outputs)	Second	Array	1		0 … 59	00 … 3B
Time Block (sensor-time from the last change of min. one of the outputs)	Microsecond	Array	4		0 … 999999	00 00 00 00 … 00 0F 42 3F

READ

Read State of the Outputs [sRN LIDoutputstate]

Status of all outputs

Telegram structure: sRN LIDoutputstate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Output state	String	14		LIDoutputstate	4C 49 44 6F 75 74 70 75 74 73 74 61 74 65

Example: sRN LIDoutputstate

CoLa A (ASCII)

<STX>sRN{SPC}LIDoutputstate<ETX>

<STX>sRN LIDoutputstate<ETX>

sRN LIDoutputstate

02 73 52 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 52 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 66

73 52 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65

Telegram structure: sRA LIDoutputstate

The response uses the structure documented for sRA/sSN LIDoutputstate under the event telegram below.

EVENT

Receive Outputstate by Event [sEN LIDoutputstate]

Output telegram is sent every time an output state changes.

Telegram structure: sEN LIDoutputstate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Event	String	3		sEN	73 45 4E
Command	Output state	String	14		LIDoutputstate	4C 49 44 6F 75 74 70 75 74 73 74 61 74 65
	Start/stop	Enum_8	1	Start: Stop:	1 0	01 00

Example: sEN LIDoutputstate

CoLa A (ASCII)

<STX>sEN{SPC}LIDoutputstate{SPC}1<ETX>

<STX>sEN LIDoutputstate 1<ETX>

sEN LIDoutputstate 1

02 73 45 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 14 73 45 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 20 01 50

73 45 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 20 01

Telegram structure: sRA/sSN LIDoutputstate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA / sSN	73 52 41 / 73 53 4E
Command	Output state	String	14		LIDoutputstate	4C 49 44 6F 75 74 70 75 74 73 74 61 74 65
Status code	Version number	Uint_16	2		0h … FFFFh	00 00 … FF FF
Status code	System counter (time in µs since power up max. 71min then starting from 0 again)	Uint_32	4		0h … FFFFFFFFh	00 00 00 00 … FF FF FF FF
State of the outputs 1 ... n and count value in hex. (values of an example) Amount of outputs (n) depending of device family	Output 1 ... n state	Enum_8	1	Not active: Active: Output not used:	0 1 2	00 01 02
State of the outputs 1 ... n and count value in hex. (values of an example) Amount of outputs (n) depending of device family	Output 1 ... n count	Uint_32	4		0h … FFFFFFFFh	00 00 00 00 … FF FF FF FF
Time	States code	Uint_16	2	No time data: Time data:	0 1	00 00 00 01
Time Block (sensor-time from the last change of min. one of the outputs)	Year	Array	2	E. g.	1970	07 B2
Time Block (sensor-time from the last change of min. one of the outputs)	Month	Array	1		1 … 12	01 … 0C
Time Block (sensor-time from the last change of min. one of the outputs)	Day	Array	1		1 … 31	01 … 1F
Time Block (sensor-time from the last change of min. one of the outputs)	Hour	Array	1		0 … 23	00 … 17
Time Block (sensor-time from the last change of min. one of the outputs)	Minute	Array	1		0 … 59	00 … 3B
Time Block (sensor-time from the last change of min. one of the outputs)	Second	Array	1		0 … 59	00 … 3B
Time Block (sensor-time from the last change of min. one of the outputs)	Microsecond	Array	4		0 … 999999	00 00 00 00 … 00 0F 42 3F

METHOD

Set Output State [sMN mDOSetOutput]

Set a specific output to high or low via software command.

Output source needs to be set to "SOPAS command" and the port configured as Output (in case of I/O).

Telegram structure: sMN mDOSetOutput

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Set output state	String	12		mDOSetOutput	6D 44 4F 53 65 74 4F 75 74 70 75 74
Output number		Uint_8	1	Depends on system plug:	1 … 3 1 … 6	01 … 03 01 … 06
Output state		Enum_8	1	Not active: Active:	0 1	00 01

Example: sMN mDOSetOutput

CoLa A (ASCII)

<STX>sMN{SPC}mDOSetOutput{SPC}1{SPC}1<ETX>

<STX>sMN mDOSetOutput 1 1<ETX>

sMN mDOSetOutput 1 1

02 73 4D 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 31 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 4D 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 01 01 6B

73 4D 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 01 01

Telegram structure: sAN mDOSetOutput

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Set output state	String	12		mDOSetOutput	6D 44 4F 53 65 74 4F 75 74 70 75 74
Status Code	Status code	Bool_1	1	Error: Success:	0 1	00 01

Example: sAN mDOSetOutput

CoLa A (ASCII)

<STX>sAN{SPC}mDOSetOutput{SPC}1<ETX>

02 73 41 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 41 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 01 66

METHOD

Reset Output Counter [sMN LIDrstoutpcnt]

Reset the counter which keeps track of how often an digital output has been active (and not active). Information from the counter is included in LIDoutputstate.

Telegram structure: sMN LIDrstoutpcnt

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Reset output counter	String	13		LIDrstoutpcnt	4C 49 44 72 73 74 6F 75 74 70 63 6E 74

Example: sMN LIDrstoutpcnt

CoLa A (ASCII)

<STX>sMN{SPC}LIDrstoutpcnt<ETX>

<STX>sMN LIDrstoutpcnt<ETX>

sMN LIDrstoutpcnt

02 73 4D 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 4D 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 03

73 4D 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74

Telegram structure: sAN LIDrstoutpcnt

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 41 4E
Command	Reset output counter	String	13		LIDrstoutpcnt	4C 49 44 72 73 74 6F 75 74 70 63 6E 74
Status code	Code number	Bool_1	1	Success: Error:	0 1	00 01

Example: sAN LIDrstoutpcnt

CoLa A (ASCII)

<STX>sAN{SPC}LIDrstoutpcnt{SPC}0<ETX>

02 73 41 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 41 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 20 00 2F

Data Output

WRITE

Configure the Data Content for the Scan [sWN LMDscandatacfg]

Configuration of the channels (e.g. distance) and information that will be send by the device as measurement data (output data format).

Telegram structure: sWN LMDscandatacfg

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Configure scandata	String	14		LMDscandatacfg	4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67
Reserved	-	Uint_8	2	Always:	0 0	00 00
RSSI	Enable or disable the output of RSSI values	Uint_8	1	RSSI disabled: RSSI enabled:	0 1	00 01
Reserved	-	Enum_8	1	Always:	0	00
Reserved	-	Enum_8	1	Always:	0	00
Encoder	Encoder data	Uint_8	2	No encoder: Channel 1:	0 0 1 0	00 00 01 00
Reserved	-	Bool_1	1	Always:	0	00
Device name	Sends the device name	Bool_1	1	No: Yes:	0 1	00 01
Reserved	-	Bool_1	1	Always:	0	00
Time	Sends time stamp information	Bool_1	1	No: Yes:	0 1	00 01
Reserved	-	Uint_16	2	Always:	+1d (1h)	00 01

Example: RSSI enabled

Example: sWN LMDscandatacfg

CoLa A (ASCII)

<STX>sWN{SPC}LMDscandatacfg{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}+1<ETX>

<STX>sWN LMDscandatacfg 0 0 1 0 0 0 0 0 0 0 0 +1<ETX>

sWN LMDscandatacfg 0 0 1 0 0 0 0 0 0 0 0 +1

02 73 57 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 20 30 20 30 20 31 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 2B 31 03

CoLa B (binary)

02 02 02 02 00 00 00 20 73 57 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 20 00 00 01 00 00 00 00 00 00 00 00 00 01 42

73 57 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 20 00 00 01 00 00 00 00 00 00 00 00 00 01

Telegram structure: sWA LMDscandatacfg

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Configure scandata	String	14		LMDscandatacfg	4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67

Example: sWA LMDscandatacfg

CoLa A (ASCII)

<STX>sWA{SPC}LMDscandatacfg<ETX>

02 73 57 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 57 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 20 4D

WRITE

Configure Aperture Angle of the Scandata for Output [sWN LMPoutputRange]

Configure aperture angle of the scandata for output.

Access: Authorized client user level is required.

Request: sWN LMPoutputRange

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Change output angle range	String	14	CoLa A: LMPoutputRange
-	Int_16	2	Always: CoLa A: 1
[1/10000°]	Uint_32	4	Normal mode @ 12.5 Hz: 0.0200°: 0.0400°: 0.0600°: 0.1000°: 0.1200°: Normal mode @ 25 Hz: 0.0400°: 0.0800°: 0.1200°: 0.2000°: 0.2400°: Extended range mode @ 12.5 Hz: 0.240°: 0.120°: 0.080°: 0.040°: Extended range mode @ 25 Hz: 0.480°: 0.240°: 0.160°: 0.080°: CoLa A: +200d (C8h) +400d (190h) +600d (258h) +1000d (3E8h) +1200d (4B0h) +400d (190h) +800d (320h) +1200d (4B0h) +2000d (7D0h) +2400d (960h) +2400d (960h) +1200d (4B0h) +800d (320h) +400d (190h) +4800d (12C0h) +2400d (960h) +1600d (640h) +800d (320h)
[1/10000°]	Int_32	4	-180° ... +180°: CoLa A: -1800000d (FFE488C0h) … +1800000d (1B7740h)
[1/10000°]	Int_32	4	-180° ... +180° CoLa A: -1800000d (FFE488C0h) … +1800000d (1B7740h)

Response: sWA LMPoutputRange

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Change output angle range	String	14	CoLa A: LMPoutputRange

Request example

CoLa A (ASCII)

<STX>sWN LMPoutputRange 1 +400 0 +900000<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 21 73 57 4E 20 4C 4D 50 6F 75 74 70 75 74 52 61 6E 67 65 20 00 01 00 00 01 90 00 00 00 00 00 0D BB A0 FD

Response example

CoLa A (ASCII)

<STX>sWA LMPoutputRange<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 12 73 57 41 20 4C 4D 50 6F 75 74 70 75 74 52 61 6E 67 65 54

READ

Read for Actual Output Range [sRN LMPoutputRange]

Read for actual output range.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN LMPoutputRange

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Output range	String	14	CoLa A: LMPoutputRange

Response: sRA LMPoutputRange

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Output range	String	14	CoLa A: LMPoutputRange
Parameter	Int_16	2	Always: CoLa A: 1h
[1/10000°]	Uint_32	4	Normal mode @ 12.5 Hz 0.0200°: 0.0400°: 0.0600°: 0.1000°: 0.1200°: Normal mode @ 25 Hz: 0.0400°: 0.0800°: 0.1200°: 0.2000°: 0.2400°: Extended range mode @ 12.5 Hz: 0.240°: 0.120°: 0.080°: 0.040°: Extended range mode @ 25 Hz: 0.480°: 0.240°: 0.160°: 0.080°: CoLa A: C8h 190h 258h 3E8h 4B0h 190h 320h 4B0h 7D0h 960h 960h 4B0h 320h 190h 12C0h 960h 640h 320h
[1/10000°]	Int_32	4	-180° ... +180° CoLa A: FFE488C0h … 1B7740h
[1/10000°]	Int_32	4	-180° ... +180° CoLa A: FFE488C0h … 1B7740h

Request example

CoLa A (ASCII)

<STX>sRN LMPoutputRange<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 12 73 52 4E 20 4C 4D 50 6F 75 74 70 75 74 52 61 6E 67 65 5E

Response example

CoLa A (ASCII)

<STX>sRA LMPoutputRange 1 190 0 DBBA0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 21 73 52 41 20 4C 4D 50 6F 75 74 70 75 74 52 61 6E 67 65 20 00 01 00 00 01 90 00 00 00 00 00 0D BB A0 F7

WRITE

Configure the Distance Scaling of the Scandata for the Output [sWN LMDscandatascalefactor]

Configure the distance scaling of the scandata for the output.

Access: Authorized client user level is required.

Request: sWN LMDscandatascalefactor

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Change distance scale factor	String	14	CoLa A: LMDscandatascalefactor
[mm/digit]	Real as float according to IEEE754	4	Factor × 1: Factor × 2 (values have to be scaled by factor two): MinValue="0.1" MaxValue="16.0" Default “2.0” PhysicalUnit="mm/digit" CoLa A: 3F800000h 40000000h (Default)

Response: sWA LMDscandatascalefactor

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Change distance scale factor	String	14	CoLa A: LMDscandatascalefactor

Request example

CoLa A (ASCII)

<STX>sWN LMDscandatascalefactor 3F800000<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 57 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 73 63 61 6C 65 66 61 63 74 6F 72 20 3F 80 00 00 EA

Response example

CoLa A (ASCII)

<STX>sWA LMDscandatascalefactor<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1A 73 57 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 73 63 61 6C 65 66 61 63 74 6F 72 7A

READ

Read the Distance Scaling for the Distance Values of the Scandata [sRN LMDscandatascalefactor]

Read the distance scaling for the distance values of the scandata.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN LMDscandatascalefactor

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Change distance scale factor	String	14	CoLa A: LMDscandatascalefactor

Response: sRA LMDscandatascalefactor

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Change distance scale factor	String	14	CoLa A: LMDscandatascalefactor
[mm/digit]	Real as float according to IEEE754	4	Factor × 1: Factor × 2 (values have to be scaled by factor two): MinValue="0.1" MaxValue="16.0" Default “1.0” PhysicalUnit="mm/digit" CoLa A: 3F800000h 40000000h (Default)

Request example

CoLa A (ASCII)

<STX>sRN LMDscandatascalefactor<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1A 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 73 63 61 6C 65 66 61 63 74 6F 72 70

Response example

CoLa A (ASCII)

<STX>sRA LMDscandatascalefactor 3F800000<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 52 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 73 63 61 6C 65 66 61 63 74 6F 72 20 3F 80 00 00 E0

READ

Poll One Telegram [sRN LMDscandata]

Asking the device for the measurement values of the last valid scan. The device will respond, even if currently no measurement data is created (e.g. due to standby or log in).

Data is transmitted only via LMDscandata when LMDscandata is selected as data output format.

During the boot up phase of the device, there will be no data telegram or answer from the device.

Important: The sRN LMDscandata and sEN LMDscandata telegrams must not be sent via CoLa A. Use CoLa B for these data telegrams; sending them over CoLa A can result in data loss.

Telegram structure: sRN LMDscandata

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Only one telegram	String	11		LMDscandata	4C 4D 44 73 63 61 6E 64 61 74 61

Example: sRN LMDscandata

CoLa A (ASCII)

<STX>sRN{SPC}LMDscandata<ETX>

<STX>sRN LMDscandata<ETX>

sRN LMDscandata

02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 05

73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61

Telegram structure: sRA LMDscandata

The response uses the scan-data structure documented for sRA/sSN LMDscandata below. The sEA LMDscandata telegram is the subscription acknowledgement, not the scan-data payload.

EVENT

Send Data Permanently [sEN LMDscandata]

Start or stop continuous transmission of measurement data. Data is transmitted as configured as soon as measurement data is generated by the device. No data is generated when there is an active log in, the laser is shut off (e.g. in Standby mode), the motor is stopped, the data format is Compact, or the device is in certain error modes (e.g. Device not ready).

Data is transmitted only via LMDscandata when LMDscandata is selected as data output format.

During the boot up phase of the device, there will be no data telegram or answer from the device.

Telegram structure: sEN LMDscandata

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Event	String	3		sEN	73 45 4E
Command	Data telegram	String	11		LMDscandata	4C 4D 44 73 63 61 6E 64 61 74 61
Measurement	Start/stop	Enum_8	1	Stop: Start:	0 1	00 01

Example: sEN LMDscandata

CoLa A (ASCII)

<STX>sEN{SPC}LMDscandata{SPC}1<ETX>

<STX>sEN LMDscandata 1<ETX>

sEN LMDscandata 1

02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 01 33

73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 01

Telegram structure: sEA LMDscandata

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sEA	73 45 41
Command	Data telegram	String	11		LMDscandata	4C 4D 44 73 63 61 6E 64 61 74 61
Measurement	Start/stop	Enum_8	1	Stop: Start:	0 1	00 01

Example: Confirmation of sEA LMDscandata

CoLa A (ASCII)

<STX>sEA{SPC}LMDscandata{SPC}1<ETX>

02 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 01 3C

The answer to the telegram will be followed by the scandata:

Telegram structure: Datastream of sRA LMDscandata/sSN LMDscandata

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3	Answer to sRN LMDscandata: Answer to sEN LMDscandata:	sRA sSN	73 52 41 73 53 4E
Command	Data telegram	String	11		LMDscandata	4C 4D 44 73 63 61 6E 64 61 74 61
Version number	For detecting format changes by the version.	Uint_16	2		1h … FFFFh	00 01 … FF FF
Device
Device number	Defined with SOPAS	Uint_16	2		0h … FFFFh	00 00 … FF FF
Serial number	Production period (year, calendar week, number): YYWWxxxx	Uint_32	4		0h … FFFFFFFFh	00 00 00 00 … FF FF FF FF
Device status	(See values column)	Uint_8	2 x 1	Ok: Error:	0 0 1 0	00 00 01 00
Status info
Telegram counter	Number of measurement telegrams finished in the scanner and given to the interface. Does not count how many telegrams were really given out; is relevant if not all scans are delivered from the scan core.	Uint_16	2		0h … FFFFh	00 00 … FF FF
Scan counter	Number of scans which were created in the device; counts how many scans were really done.	Uint_16	2		0h … FFFFh	00 00 … FF FF
Time since start up in µs	In the output telegram this is the time at the zero index before the measurement itself starts. Time base is the boot up time in µs since power up, max. 71 min then starting from 0 again.	Uint_32	4		0h … FFFFFFFFh	00 00 00 00 … FF FF FF FF
Time of transmission in µs	In the output telegram this is the time when the complete scan is transmitted to the buffer for data output. Time base is the boot up time in µs since power up, max. 71 min then starting from 0 again.	Uint_32	4		0h … FFFFFFFFh	00 00 00 00 … FF FF FF FF
Status of digital inputs	Low byte represents input 1.	Uint_8	2 x 1	All inputs low: Input 1 high: Input 2 high: Input 1+2 high: All inputs high: (Depends on system plug and port configuration)	0 0 1 0 2 0 3 0 3 F	00 00 01 00 02 00 03 00 03 0F
Status of digital outputs	Low byte represents output 1.	Uint_8	2 x 1	All outputs low: All outputs high:	0 0 3 F	00 00 03 0F
Reserved	-	Uint_16	2	Always:	0	00 00 00 00
Frequencies
Scan frequency	[1/100 Hz]	Uint_32	4	12.5 Hz: 25 Hz:	4E2h 9C4h	00 00 04 E2 00 00 09 C4
Reserved	-	Uint_32	4	Always:	0	00 00 00 00
Encoder
Amount of encoder	If 0, then next two telegram parts are missing.	Enum_16	2	External encoder	0 1	00 00 00 01
Encoder position	Info in ticks	Uint_32	4	Only filled if parameter is activated	0h … FFFFFFFFh	00 00 00 00 ... FF FF FF FF
Encoder speed	mm/sec or milligrad/sec	Uint_16	2	Only filled if parameter is activated	0h ... FFFFh	00 00 ... FF FF
16 bit output channel (Distance)
Amount of 16 bit channels	Number of 16 bit channels that provide measured data	Enum_16	2	Output channels	1 or 3	01 or 03
Content	Defines the content of the output channel	String	5	Distance values: Distance values: Distance values:	DIST1 DIST2 DIST3	44 49 53 54 31 44 49 53 54 32 44 49 53 54 33
Scale factor	Scale factor or factor of the measurement values	Real as float according to IEEE754	4	Factor x 1: Factor x 2: Factor x 1 (REFL1) (alternative):	3F800000h 40000000h	3F 80 00 00 40 00 00 00
Reserved	-	Real as float according to IEEE754	4	Always:	00000000	00 00 00 00
Start angle	[1/10000°]	Int_32	4	-180° ... +180°	FFE488C0h … 1B7740h	FF E4 88 C0 … 00 1B 77 40
Size of single angular step	Output format in degree: 1/10000°	Uint_16	2	0.02° ... 0.48° (depends on the scan configuration)	C8h ... 12C0h	00 C8 ... 12 C0
Amount of data	Number of transmitted measurement points	Uint_16	2		0h … FFFFh	00 00 … FF FF
Data_1 Data_n	Data stream starting Data_1 to Data_n	Uint_16	2		0h … 61A8h	00 00 00 00 … 00 00 61 A8
8 bit output channel (RSSI)
Amount of 8 bit channels	Number of 8 bit channels that provide measured data	Enum_16	2	Output channels:	1 or 3	01 or 03
Content	Defines the content of the output channel (RSSI)	String	5		RSSI1 RSSI2 RSSI3	52 53 53 49 31 52 53 53 49 32 52 53 53 49 33
Scale factor	Scale factor of the RSSI values	Real as float according to IEEE754	4	Factor x 1: Factor x 2:	3F800000h 40000000h	3F 80 00 00 40 00 00 00
Reserved	-	Real as float according to IEEE754	4	Always:	00000000h	00 00 00 00
Start angle	Output format: [1/10000°]	Uint_32	4	-180° ... +180°	FFE488C0h … 1B7740h	FF E4 88 C0 … 00 1B 77 40
Size of single angular step	Output format: 1/10000°	Uint_16	2	0.02° ... 0.48° (depends on the scan configuration)	C8h ... 12C0h	00 C8 ... 12 C0
Amount of data	Number of transmitted measurement points	Uint_16	2		0h … FFFFh	00 00 … FF FF
Data_1 Data_n	Data stream starting Data_1 to Data_n	Uint_8	1		00h ... FFh	00 ... FF
Reserved
Reserved	-	Enum_16	2	Always:	0	00 00
Reserved
Reserved	-	Enum_16	2	Always:	0	00 00
Reserved
Reserved	-	Enum_16	2	Always:	0	00 00
Reserved
Reserved	-	Enum_16	2	Always:	0	00 00
Reserved
Reserved	-	Uint_16	2	Always:	0	00 00

LMDscandata - reserved values

Valid distance measurement values are values starting from 16d upwards; everything below has the following meaning:

DIST	RSSI	Description
0d	0d	Invalid measurement value; caused by very low remission (extremely dark object), object distance not within measurement range (too close or too far away) or selected filter settings at device
1d - 15d	0d	Reserved, currently not in use
≥16d	>0h	Valid measurement values
≥16d	254d	Reflector detected
≥16d	255d	Reserved

Higher measurement values will be given out with a zero, that means no measurement value detected.

WRITE

Set Scan Data Format [sWN ScanDataFormat]

Set the data serialization format

Telegram structure: sWN ScanDataFormat

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Data serialization format	String	14		ScanDataFormat	53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74
Variable Data	Data	Enum_8	1	MSGPACK: Compact (recommended): LMDscandata: Native ROS2:	+1d (1h) +2d (2h) +3d (3h) +4d (4h)	01 02 03 04

Example: sWN ScanDataFormat

Scan data format set to Compact format

Telegram structure: sWA ScanDataFormat

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Data serialization format	String	14		ScanDataFormat	53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74

Example: sWA ScanDataFormat

CoLa A (ASCII)

<STX>sWA{SPC}ScanDataFormat<ETX>

02 73 57 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 57 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 49

IMU Data Output

WRITE

Set IMU Data Enable [sWN EnableInertialMeasurementUnit]

Set IMU data enable.

Access: Authorized client user level is required.

Request: sWN EnableInertialMeasurementUnit

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set IMU data output.	String	28	CoLa A: EnableInertialMeasurementUnit
Enable/ disable	Bool	1	Disable: 0 Enable: 1

Response: sWA EnableInertialMeasurementUnit

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set IMU data output.	String	28	CoLa A: EnableInertialMeasurementUnit

Request example

CoLa A (ASCII)

<STX>sWN EnableInertialMeasurementUnit 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 23 73 57 4E 20 45 6E 61 62 6C 65 49 6E 65 72 74 69 61 6C 4D 65 61 73 75 72 65 6D 65 6E 74 55 6E 69 74 20 00 07

Response example

CoLa A (ASCII)

<STX>sWA EnableInertialMeasurementUnit<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 21 73 57 41 20 45 6E 61 62 6C 65 49 6E 65 72 74 69 61 6C 4D 65 61 73 75 72 65 6D 65 6E 74 55 6E 69 74 28

READ

Read IMU Data [sRN InertialMeasurementUnit]

Read IMU data.

Access: Authorized client user level is required.

Request: sRN InertialMeasurementUnit

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sRN
Read IMU data	String	23	CoLa A: InertialMeasurementUnit

Response: sRA InertialMeasurementUnit

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Read IMU data	String	23	CoLa A: InertialMeasurementUnit
Vector with acceleration (including gravity) along the X axes.	Real as float according to IEEE754	4	Real in m/s^2 CoLa A: 00000000h ... FFFFFFFFh
Vector with acceleration (including gravity) along the Y axes.	Real as float according to IEEE754	4	Real in m/s^2 CoLa A: 00000000h ... FFFFFFFFh
Vector with acceleration (including gravity) along the Z axes.	Real as float according to IEEE754	4	Real in m/s^2 CoLa A: 00000000h ... FFFFFFFFh
Vector with rotation rates along the X coordinate axes.	Real as float according to IEEE754	4	Real in rad/s CoLa A: 00000000h ... FFFFFFFFh
Vector with rotation rates along the Y coordinate axes.	Real as float according to IEEE754	4	Real in rad/s CoLa A: 00000000h ... FFFFFFFFh
Vector with rotation rates along the Z coordinate axes.	Real as float according to IEEE754	4	Real in rad/s CoLa A: 00000000h ... FFFFFFFFh
Vector with magnetic field strength along the X coordinate axes.	Real as float according to IEEE754	4	Real in T CoLa A: 00000000h ... FFFFFFFFh
Vector with magnetic field strength along the Y coordinate axes.	Real as float according to IEEE754	4	Real in T CoLa A: 00000000h ... FFFFFFFFh
Vector with magnetic field strength along the Z coordinate axes.	Real as float according to IEEE754	4	Real in T CoLa A: 00000000h ... FFFFFFFFh
Orientation in the specified coordinate system given as quaternion	Real as float according to IEEE754	4	CoLa A: 00000000h ... FFFFFFFFh
Orientation in the specified coordinate system given as quaternion	Real as float according to IEEE754	4	CoLa A: 00000000h ... FFFFFFFFh
Orientation in the specified coordinate system given as quaternion	Real as float according to IEEE754	4	CoLa A: 00000000h ... FFFFFFFFh
Orientation in the specified coordinate system given as quaternion	Real as float according to IEEE754	4	CoLa A: 00000000h ... FFFFFFFFh
Point in time when the IMU data was captured. Time base is the boot-up time in µs since power up, max. 71 min then starting from 0 again.	Uint_32	4	µs CoLa A: 0h ... FFFFFFFFh

Request example

CoLa A (ASCII)

<STX>sRN InertialMeasurementUnit<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1B 73 52 4E 20 49 6E 65 72 74 69 61 6C 4D 65 61 73 75 72 65 6D 65 6E 74 55 6E 69 74 03

Region of Interest

WRITE

Set Radial Distance Range Filter [sWN LFPradialDistanceRangeFilter]

Restriction of the scan(s) to a specified distance range.

Telegram structure: sWN LFPradialDistanceRangeFilter

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Restriction of the scan(s) to a specified distance range.	String	28		LFPradialDistanceRangeFilter	4C 46 50 72 61 64 69 61 6C 44 69 73 74 61 6E 63 65 52 61 6E 67 65 46 69 6C 74 65 72
Variable Data 1	Enables/Disables the filter.	Bool_1	1	Off: On:	0d (0h) 1d (1h)	00 01
DistMin	Lower boundary of the distance range.	Int_32	4	Minimum: Maximum:	+0d (0h) +200000d (30D40h)	00 00 00 00 00 03 0D 40
DistMax	Upper boundary of the distance range.	Int_32	4	Minimum: Maximum:	+0d (0h) +200000d (30D40h)	00 00 00 00 00 03 0D 40

Disable the radial distance range filter and set up the boundaries to min 0mm and max 200000mm.

Telegram structure: sWA LFPradialDistanceRangeFilter

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Restriction of the scan(s) to a specified distance range.	String	28		LFPradialDistanceRangeFilter	4C 46 50 72 61 64 69 61 6C 44 69 73 74 61 6E 63 65 52 61 6E 67 65 46 69 6C 74 65 72

Example: sWA LFPradialDistanceRangeFilter

CoLa A (ASCII)

<STX>sWA{SPC}LFPradialDistanceRangeFilter<ETX>

02 73 57 41 20 4C 46 50 72 61 64 69 61 6C 44 69 73 74 61 6E 63 65 52 61 6E 67 65 46 69 6C 74 65 72 03

CoLa B (binary)

02 02 02 02 00 00 00 21 73 57 41 20 4C 46 50 72 61 64 69 61 6C 44 69 73 74 61 6E 63 65 52 61 6E 67 65 46 69 6C 74 65 72 20 70

Field Evaluation

METHOD

Set Activation of Evaluation Group [sMN ActivateEvaluationGroup]

The telegram is intended to activate or deactivate groups via telegram. The group activation needs to be changed from always to telegram in advance.

Telegram structure: sMN ActivateEvaluationGroup

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Activate / deactivate evaluation group	String	23		ActivateEvaluationGroup	41 63 74 69 76 61 74 65 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70
Amount of evaluation groups to activate/ deactivate	Array	Uint_16	2	Each array element contains two parameters:Evaluation group numberDeactivation / activation of evaluation group	1d ... 48d (1 ... 30h)	00 01 … 00 30
Evaluation group number	Evaluation group 1	UInt_16	2		1	00 01
Deactivation / activation of evaluation group	Activate / deactivate evaluation group 1	Bool_1	1	Deactivate: Activate:	0 1	00 01
Evaluation group number	Evaluation group 2	UInt_16	2		2	00 02
Activate/ deactivate evaluation group	Activate / deactivate evaluation group 2	Bool_1	1	Deactivate: Activate:	0 1	00 01
..
Evaluation group number	Evaluation group 48	UInt_16	2		48d (30h)	00 30
Activate/ deactivate evaluation group	Activate / deactivate evaluation group 48	Bool_1	1	Deactivate: Activate:	0 1	00 01

Example1: sMN ActivateEvaluationGroup – Deactivate evaluation group 1

CoLa A (ASCII)

<STX>sMN{SPC}ActivateEvaluationGroup{SPC}1{SPC}1{SPC}0<ETX>

<STX>sMN ActivateEvaluationGroup 1 1 0<ETX>

sMN ActivateEvaluationGroup 1 1 0

02 73 4D 4E 20 41 63 74 69 76 61 74 65 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 20 31 20 31 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 21 73 4D 4E 20 41 63 74 69 76 61 74 65 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 20 00 01 00 01 00 20

73 4D 4E 20 41 63 74 69 76 61 74 65 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 20 00 01 00 01 00

Telegram structure: sAN ActivateEvaluation

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 52 41
Command	Activate / deactivate evaluation group	String	23		ActivateEvaluationGroup	41 63 74 69 76 61 74 65 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70
Amount of activated/deactivated evaluation groups	-	UInt_16	2		1h... 30h	00 01 … 00 30
State of activation / deactivation	-	Bool_1	1	Activation/Deactivation failed: Successfully activated/deactivated:	0 1	00 01

METHOD

Set Field Evaluation Contour [sMN SetFieldEvaluationContour]

This telegram can be used to change or reshape the contour/ polygon of an already defined field. It´s possible to add additional points.

Telegram structure: sMN SetFieldEvaluationContour

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Set the region of interest of an object detection evaluation	String	25		SetFieldEvaluationContour	53 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72
Evaluation ID	Specific ID of the evaluation that is to be changed	UInt_16	2		+1d ... +48d (1h ... 30h)	00 01 … 00 30
Amount of polygon vertices	E. g. triangle = 3, square = 4	Array	3 ... 100		+3d ... +800d (3h ... 320h)	00 03... 03 20
Polygon vertex	Coordinates of first polygon vertex in mm	Dint_32	4	X coordinate:	-120,000d ... +120,000d (FFFE2B40h … 1D4C0h)	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of first polygon vertex in mm	Dint_32	4	Y coordinate:	-120,000d ... +120,000d (FFFE2B40h … 1D4C0h)	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of second polygon vertex in mm	Dint_32	4	X coordinate:	-120,000d ... +120,000d (FFFE2B40h … 1D4C0h)	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of second polygon vertex in mm	Dint_32	4	Y coordinate:	-120,000d ... +120,000d (FFFE2B40h … 1D4C0h)	FF FE 2B 40 … 00 01 D4 C0
..
Polygon vertex	Coordinates of last polygon vertex in mm	Dint_32	4	X coordinate:	-120,000d ... +120,000d (FFFE2B40h … 1D4C0h)	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of last polygon vertex in mm	Dint_32	4	Y coordinate:	-120,000d ... +120,000d (FFFE2B40h … 1D4C0h)	FF FE 2B 40 … 00 01 D4 C0
Lower Z limit	Lower bound of extrusion in Z direction	Dint_32	4	Must be: (Other values than 0 will lead to an error)	0	00 00 00 00
Upper Z limit	Upper bound of extrusion in Z direction	Dint_32	4	Must be: (Other values than 0 will lead to an error)	0	00 00 00 00

Example: sMN SetFieldEvaluationContour

CoLa A (ASCII)

<STX>sMN{SPC}SetFieldEvaluationContour{SPC}1{SPC}4{SPC}+2000{SPC}+1000{SPC}+0{SPC}+1000{SPC}+0{SPC}+0{SPC}+2000{SPC}+0{SPC}+0{SPC}+0<ETX>

<STX>sMN SetFieldEvaluationContour 1 4 +2000 +1000 +0 +1000 +0 +0 +2000 +0 +0 +0<ETX>

sMN SetFieldEvaluationContour 1 4 +2000 +1000 +0 +1000 +0 +0 +2000 +0 +0 +0

02 73 4D 4E 20 53 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 31 20 34 20 2B 32 30 30 30 20 2B 31 30 30 30 20 2B 30 20 2B 31 30 30 30 20 2B 30 20 2B 30 20 2B 32 30 30 30 20 2B 30 20 2B 30 20 2B 30 03

CoLa B (binary)

02 02 02 02 00 00 00 4A 73 4D 4E 20 53 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 00 01 00 04 00 00 07 D0 00 00 03 E8 00 00 00 00 00 00 03 E8 00 00 00 00 00 00 00 00 00 00 07 D0 00 00 00 00 00 00 00 00 00 00 00 00 1D

73 4D 4E 20 53 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 00 01 00 04 00 00 07 D0 00 00 03 E8 00 00 00 00 00 00 03 E8 00 00 00 00 00 00 00 00 00 00 07 D0 00 00 00 00 00 00 00 00 00 00 00 00

Telegram structure: sAN SetFieldEvaluationContour

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 52 41
Command	Set the region of interest of an object detection evaluation	String	25		SetFieldEvaluationContour	53 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72
State of evaluation conversion	-	Enum_8	1	Conversion successful: Invalid Evaluation: Invalid Polygon: Invalid Z limit:	0 1 2 3	00 01 02 03

Example: sAN SetFieldEvaluationContour – Evaluation conversion successful

CoLa A (ASCII)

<STX>sAN{SPC}SetFieldEvaluationContour{SPC}0<ETX>

02 73 41 4E 20 53 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 41 4E 20 53 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 00 14

METHOD

Get Field Evaluation Contour [sMN GetFieldEvaluationContour]

This telegram can be used to read the contour/ polygon of an already defined field.

Telegram structure: sMN GetFieldEvaluationContour

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sMN	73 4D 4E
Command	Get the region of interest of an object detection evaluation	String	25		GetFieldEvaluationContour	47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72
Evaluation ID	Specific ID of the evaluation that is to be changed	UInt_16	2		+1d ... +48d (1h ... 30h)	00 01 … 00 30

Example request: sMN GetFieldEvaluationContour (evaluation ID 1)

• CoLa A: <STX>sMN GetFieldEvaluationContour 1<ETX>
• CoLa A hex: 02 73 4D 4E 20 47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 31 03
• CoLa B: 02 02 02 02 00 00 00 20 73 4D 4E 20 47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 00 01 0D

Telegram structure: sAN GetFieldEvaluationContour

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sAN	73 52 41
Command	Get the region of interest of an object detection evaluation	String	25		GetFieldEvaluationContour	47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72
Length of array		Uint_8	1	Always:	1	00 01
Evaluation ID	Specific ID of the evaluation that is to be changed	UInt_16	2		1h ... 30h	00 01 … 00 30
Amount of polygon vertices	E. g. triangle = 3, square = 4	Array	3 ... 100		3h ... 320h	00 03... 03 20
Polygon vertex	Coordinates of first polygon vertex in mm	Dint_32	4	X coordinate:	FFFE2B40h ... 1D4C0h	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of first polygon vertex in mm	Dint_32	4	Y coordinate:	FFFE2B40h ... 1D4C0h	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of second polygon vertex in mm	Dint_32	4	X coordinate:	FFFE2B40h ... 1D4C0h	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of second polygon vertex in mm	Dint_32	4	Y coordinate:	FFFE2B40h ... 1D4C0h	FF FE 2B 40 … 00 01 D4 C0
..
Polygon vertex	Coordinates of last polygon vertex in mm	Dint_32	4	X coordinate:	FFFE2B40h ... 1D4C0h	FF FE 2B 40 … 00 01 D4 C0
Polygon vertex	Coordinates of last polygon vertex in mm	Dint_32	4	Y coordinate:	FFFE2B40h ... 1D4C0h	FF FE 2B 40 … 00 01 D4 C0
Lower Z limit	Lower bound of extrusion in Z direction	Dint_32	4	Always:	0	00 00 00 00
Upper Z limit	Upper bound of extrusion in Z direction	Dint_32	4	Always:	0	00 00 00 00

Example: sAN GetFieldEvaluationContour

CoLa A (ASCII)

<STX>sAN{SPC}GetFieldEvaluationContour{SPC}1{SPC}1{SPC}4{SPC}7D0{SPC}3E8{SPC}0{SPC}3E8{SPC}0{SPC}0{SPC}7D0{SPC}0{SPC}0{SPC}0<ETX>

02 73 41 4E 20 47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 31 20 31 20 34 20 37 44 30 20 33 45 38 20 30 20 33 45 38 20 30 20 30 20 37 44 30 20 30 20 30 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 4C 73 41 4E 20 47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 00 01 00 01 00 04 00 00 07 D0 00 00 03 E8 00 00 00 00 00 00 03 E8 00 00 00 00 00 00 00 00 00 00 07 D0 00 00 00 00 00 00 00 00 00 00 00 00 04

READ

Read the Current Field Evaluation Application State [sRN FieldEvaluationApplicationState]

Read the current field evaluation application state.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN FieldEvaluationApplicationState

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Info on current field evaluation application state	String	31	CoLa A: FieldEvaluationApplicationState

Response: sRA FieldEvaluationApplicationState

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Info on current field evaluation application state	String	31	CoLa A: FieldEvaluationApplicationState
-	Enum_8	1	Deactivated:: 0 Active:: 1 Configuring:: 2 Error:: 3

Request example

CoLa A (ASCII)

<STX>sRN FieldEvaluationApplicationState<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 23 73 52 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 41 70 70 6C 69 63 61 74 69 6F 6E 53 74 61 74 65 36

Response example

CoLa A (ASCII)

<STX>sRA FieldEvaluationApplicationState 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 25 73 52 41 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 41 70 70 6C 69 63 61 74 69 6F 6E 53 74 61 74 65 20 01 18

READ

Read Field Evaluation Result [sRN FieldEvaluationResult]

This telegram returns the status information of all evaluations.

Telegram structure: sRN FieldEvaluationResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Info on field evaluation result	String	21		FieldEvaluationResult	46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74

Example: sRN FieldEvaluationResult

CoLa A (ASCII)

<STX>sRN{SPC}FieldEvaluationResult<ETX>

<STX>sRN FieldEvaluationResult<ETX>

sRN FieldEvaluationResult

02 73 52 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 03

CoLa B (binary)

02 02 02 02 00 00 00 19 73 52 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 12

73 52 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74

Telegram structure: sRA FieldEvaluationResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Info on field evaluation result	String	21		FieldEvaluationResult	46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74
Version	Version number	Uint_16	2		0 ... FFFFh	00 ... FF FF
Timestamp	Time of the last field infringement. Time base is the sensor system time in milliseconds since January 1, 1970, 00:00 (UTC). If a time server is being used, the configured system time is used.	ULInt_64	8		0 ... FFFFFFFFFFFFFFFFh	00 00 00 00 00 00 00 00 ... FF FF FF FF FF FF FF FF
Evaluation Result	Evaluation state of the first field.	Enum_8	1	Not configured: Inactive: Free: Detecting infringed: Infringed: Detecting free:	0 1 2 3 4 5	00 01 02 03 04 05
Reserved	-	Enum_8	1	Always:	0	00
Evaluation Result	Evaluation state of the second field.	Enum_8	1	Not configured: Inactive: Free: Detecting infringed: Infringed: Detecting free:	0 1 2 3 4 5	00 01 02 03 04 05
Reserved	-	Enum_8	1	Always:	0	00
..
Evaluation Result	Evaluation state of the last field. (maximum amount of evaluations = 48)	Enum_8	1	Not configured: Inactive: Free: Detecting infringed: Infringed: Detecting free:	0 1 2 3 4 5	00 01 02 03 04 05
Reserved	-	Enum_8	1	Always:	0	00

READ

Request Perpendicular Distance Once [sRN perpendicularDistanceResult]

This telegram can be used to request the perpendicular distance. The shortest and furthest measuring point in a range to a reference plane will be transmitted. A field and a reference plane must be defined in the user interface under Application > Perpendicular distance measurement.

Telegram structure: sRN perpendicularDistanceResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Perpendicular distance values	String	27		perpendicularDistanceResult	70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74

Example: sRN perpendicularDistanceResult

CoLa A (ASCII)

<STX>sRN{SPC}perpendicularDistanceResult<ETX>

<STX>sRN perpendicularDistanceResult<ETX>

sRN perpendicularDistanceResult

02 73 52 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 03

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 52 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 3D

73 52 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74

Telegram structure: sRA perpendicularDistanceResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Perpendicular distance values	String	27		perpendicularDistanceResult	70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74
Timestamp	Time of the latest object detection in the defined fields. Time base is the sensor system time in milliseconds since January 1, 1970, 00:00 (UTC). If a time server is being used, the configured system time is used.	Uint_32	8		0 ... FFFFFFFFh	00 00 00 00 00 00 00 00... FF FF FF FF FF FF FF FF
Amount of channels	Amount of perpendicular distance evaluation channels/fields	Enum_8	2		1 ... 20d (1 ... 14h)	00 01 ... 00 14
Evaluation ID X	ID of perpendicular distance field	Enum_8	2		1 ... 20d (1 ... 14h)	00 01 ... 00 14
Evaluation ID X	Minimum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Maximum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	X minimum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Y minimum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Reserved	Int_32	4	Always:	0	00 00 00 00
Evaluation ID X	X maximum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Y maximum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Reserved	Int_32	4	Always:	0	00 00 00 00
Evaluation ID ..	..	..	..	..	..	..

Example: sRA perpendicularDistanceResult - 1 configured field

CoLa A (ASCII)

<STX>sRA{SPC}perpendicularDistanceResult{SPC}138D305E8{SPC}1{SPC}1{SPC}9D{SPC}7EA{SPC}9D{SPC}FFFFFC67{SPC}0{SPC}7EA{SPC}FFFFFD70{SPC}0<ETX>

02 73 52 41 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 20 31 33 38 44 33 30 35 45 38 20 31 20 31 20 39 44 20 37 45 41 20 39 44 20 46 46 46 46 46 43 36 37 20 30 20 37 45 41 20 46 46 46 46 46 44 37 30 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 4C 73 52 41 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 20 00 00 00 01 31 80 92 88 00 01 00 01 00 00 00 9F 00 00 07 EB 00 00 00 9F FF FF FC 8C 00 00 00 00 00 00 07 EB FF FF FD 70 00 00 00 00 45

EVENT

Request Perpendicular Distance Continuously on Event [sEN perpendicularDistanceResult]

This telegram can be used to request the perpendicular distance continuously on event. The shortest and furthest measuring point in a range to a reference plane will be transmitted. A field and a reference plane must be defined in the user interface under Application > Perpendicular distance measurement.

Telegram structure: sEN perpendicularDistanceResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Event	String	3		sEN	73 45 4E
Command	Perpendicular distance values	String	27		perpendicularDistanceResult	70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74
Start/ Stop	-	Enum_8	1	Stop: Start:	0 1	00 01

Example: sEN perpendicularDistanceResult

CoLa A (ASCII)

<STX>sEN{SPC}perpendicularDistanceResult{SPC}1<ETX>

<STX>sEN perpendicularDistanceResult 1<ETX>

sEN perpendicularDistanceResult 1

02 73 45 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 21 73 45 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 20 01 0B

73 45 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 20 01

Telegram structure: sSN perpendicularDistanceResult

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sSN	73 53 4E
Command	Perpendicular distance values	String	27		perpendicularDistanceResult	70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74
Timestamp	Time of the latest object detection in the defined fields. Time base is the sensor system time in milliseconds since January 1, 1970, 00:00 (UTC). If a time server is being used, the configured system time is used.	Uint_32	8		0 ... FFFFFFFFh	00 00 00 00 00 00 00 00... FF FF FF FF FF FF FF FF
Amount of channels	Amount of perpendicular distance evaluation channels/fields	Enum_8	2		1 ... 20d (1 ... 14h)	00 01 ... 00 14
Evaluation ID X	ID of perpendicular distance field	Enum_8	2		1 ... 20d (1 ... 14h)	00 01 ... 00 14
Evaluation ID X	Minimum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Maximum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	X minimum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Y minimum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Reserved	Int_32	4	Always:	0	00 00 00 00
Evaluation ID X	X maximum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Y maximum distance [mm]	Int_32	4		-120000d … +120000d (FFFE2B3F … 1D4C0h)	FF FE 2B 3F … 00 01 D4 C0
Evaluation ID X	Reserved	Int_32	4	Always:	0	00 00 00 00
Evaluation ID ..	..	..	..	..	..	..

Example: sSN perpendicularDistanceResult - 1 configured field

CoLa A (ASCII)

<STX>sSN{SPC}perpendicularDistanceResult{SPC}D5BD2DA8{SPC}1{SPC}1{SPC}174{SPC}7CE{SPC}174{SPC}FFFFFFFC{SPC}0{SPC}7CE{SPC}FFFFFD13{SPC}0<ETX>

02 73 53 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 20 44 35 42 44 32 44 41 38 20 31 20 31 20 31 37 34 20 37 43 45 20 31 37 34 20 46 46 46 46 46 46 46 43 20 30 20 37 43 45 20 46 46 46 46 46 44 31 33 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 4C 73 53 4E 20 70 65 72 70 65 6E 64 69 63 75 6C 61 72 44 69 73 74 61 6E 63 65 52 65 73 75 6C 74 20 00 00 00 00 F9 B6 D5 88 00 01 00 01 00 00 00 9D 00 00 07 D0 00 00 00 9D FF FF FC D0 00 00 00 00 00 00 07 D0 FF FF FD 1F 00 00 00 00 C0

READ

Read Evaluation Group Type [sRN EvaluationGroupType]

Array with the type of each group, either perpendicular distance or field evaluation.

Telegram structure: sRN EvaluationGroupType

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command		String	19		EvaluationGroupType	45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 54 79 70 65

Example: sRN EvaluationGroupType

CoLa A (ASCII)

<STX>sRN{SPC}EvaluationGroupType<ETX>

<STX>sRN EvaluationGroupType<ETX>

sRN EvaluationGroupType

02 73 52 4E 20 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 54 79 70 65 03

CoLa B (binary)

02 02 02 02 00 00 00 17 73 52 4E 20 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 54 79 70 65 1E

73 52 4E 20 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 54 79 70 65

Telegram structure: sRA EvaluationGroupType

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command		String	19		EvaluationGroupType	45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 54 79 70 65
Data	Type of evaluation group	Array	48	Field evaluation: Perpendicular distance:	0d (00h) +1d (01h)	00 01

Operating Data

READ

Read Temperature [sRN OPcurtmpdev]

Read temperature.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN OPcurtmpdev

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Read temperature of the device	String	11	CoLa A: OPcurtmpdev

Response: sRA OPcurtmpdev

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Read temperature of the device	String	11	CoLa A: OPcurtmpdev
[°C]	Real as float according to IEEE754	4	(-50°C … +100°C) CoLa A: C2480000h … 42C80000h

Request example

CoLa A (ASCII)

<STX>sRN OPcurtmpdev<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 4E 20 4F 50 63 75 72 74 6D 70 64 65 76 2A

Response example

CoLa A (ASCII)

<STX>sRA OPcurtmpdev 420C0000<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 14 73 52 41 20 4F 50 63 75 72 74 6D 70 64 65 76 20 42 0C 00 00 4B

READ

Read Operating Hours [sRN ODoprh]

Views the total number of operating hours during the lifetime of the device.

Telegram structure: sRN ODoprh

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read operating hours	String	6		ODoprh	4F 44 6F 70 72 68

Example: sRN ODoprh

CoLa A (ASCII)

<STX>sRN{SPC}ODoprh<ETX>

<STX>sRN ODoprh<ETX>

sRN ODoprh

02 73 52 4E 20 4F 44 6F 70 72 68 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 4F 44 6F 70 72 68 41

73 52 4E 20 4F 44 6F 70 72 68

Telegram structure: sRA ODoprh

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Read operating hours	String	6		ODoprh	4F 44 6F 70 72 68
Value	Operating hours in 1/10 h	Uint_32	4		0h … FFFFFFFFh	00 00 00 00 …FF FF FF FF

Example: sRA ODoprh

CoLa A (ASCII)

<STX>sRA{SPC}ODoprh{SPC}1B50B<ETX>

02 73 52 41 20 4F 44 6F 70 72 68 20 31 42 35 30 42 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 41 20 4F 44 6F 70 72 68 20 00 01 B5 0B D1

Calculation of the value: 1B50B (hex) 111883 (dez) × 1/10 h = 11188.3 h

READ

Read Power on Counter [sRN ODpwrc]

Shows the number of power on cycles.

Telegram structure: sRN ODpwrc

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 52 4E
Command	Read power on counter	String	6		ODpwrc	4F 44 70 77 72 63

Example: sRN ODpwrc

CoLa A (ASCII)

<STX>sRN{SPC}ODpwrc<ETX>

<STX>sRN ODpwrc<ETX>

sRN ODpwrc

02 73 52 4E 20 4F 44 70 77 72 63 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 4F 44 70 77 72 63 52

73 52 4E 20 4F 44 70 77 72 63

Telegram structure: sRA ODpwrc

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sRA	73 52 41
Command	Read power on counter	String	6		ODpwrc	4F 44 70 77 72 63
Value	Power on counter	Uint_32	4		0h … FFFFFFFFh	00 00 00 00 …FF FF FF FF

Example: sRA ODpwrc

CoLa A (ASCII)

<STX>sRA{SPC}ODpwrc{SPC}9A<ETX>

02 73 52 41 20 4F 44 70 77 72 63 20 39 41 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 41 20 4F 44 70 77 72 63 20 00 00 00 9A E7

3D Scan Recording

WRITE

Set Scan Merger Source [sWN ScanMergerSource]

Set Scan Merger source.

Access: No additional user-level requirement is specified in this telegram table.

Request: sWN ScanMergerSource

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set Source for Scan Merger	String	16	CoLa A: ScanMergerSource
Source	Enum_8	1	IMU:: 0 Encoder:: 1

Response: sWA ScanMergerSource

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set Source for Scan Merger	String	16	CoLa A: ScanMergerSource

Request example

CoLa A (ASCII)

<STX>sWN ScanMergerSource 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 16 73 57 4E 20 53 63 61 6E 4D 65 72 67 65 72 53 6F 75 72 63 65 20 01 43

Response example

CoLa A (ASCII)

<STX>sWA ScanMergerSource<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 14 73 57 41 20 53 63 61 6E 4D 65 72 67 65 72 53 6F 75 72 63 65 6D

METHOD

Start Scan Merger Recording [sMN StartScanMerge]

Start Scan Merger recording.

Access: Authorized client user level is required.

Request: sMN StartScanMerge

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Method	String	3	CoLa A: sMN
Start Scan Merger recording	String	14	CoLa A: StartScanMerge

Response: sAN StartScanMerge

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sAN
Start Scan Merger recording	String	14	CoLa A: StartScanMerge

Request example

CoLa A (ASCII)

<STX>sMN StartScanMerge<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 12 73 4D 4E 20 53 74 61 72 74 53 63 61 6E 4D 65 72 67 65 77

Response example

CoLa A (ASCII)

<STX>sAN StartScanMerge<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 12 73 41 4E 20 53 74 61 72 74 53 63 61 6E 4D 65 72 67 65 7B

METHOD

Stop Scan Merger Recording [sMN StopScanMerge]

Stop Scan Merger recording.

Access: Authorized client user level is required.

Request: sMN StopScanMerge

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Method	String	3	CoLa A: sMN
Stop Scan Merger recording	String	13	CoLa A: StopScanMerge

Response: sAN StopScanMerge

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sAN
Stop Scan Merger recording	String	13	CoLa A: StopScanMerge

Request example

CoLa A (ASCII)

<STX>sMN StopScanMerge<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 11 73 4D 4E 20 53 74 6F 70 53 63 61 6E 4D 65 72 67 65 0F

Response example

CoLa A (ASCII)

<STX>sAN StopScanMerge<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 11 73 41 4E 20 53 74 6F 70 53 63 61 6E 4D 65 72 67 65 03

READ

Read for Scan Merger Saving Status [sRN MergeSaving]

Read for Scan Merger saving status.

Access: Authorized client user level is required.

Request: sRN MergeSaving

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Read for Scan Merger saving status	String	11	CoLa A: MergeSaving

Response: sRA MergeSaving

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Read for Scan Merger saving status	String	11	CoLa A: MergeSaving
Saving status	Bool_1	1	Saving not active:: 0 Saving in process:: 1

Request example

CoLa A (ASCII)

<STX>sRN MergeSaving<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 4E 20 4D 65 72 67 65 53 61 76 69 6E 67 33

Response example

CoLa A (ASCII)

<STX>sRA MergeSaving 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 11 73 52 41 20 4D 65 72 67 65 53 61 76 69 6E 67 20 00 1C

WRITE

Set Encoder Transformation Type [sWN EncoderTransformationType]

Set Encoder transformation type.

Access: Authorized client user level is required.

Request: sWN EncoderTransformationType

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set encoder transformation type	String	25	CoLa A: EncoderTransformationType
Transformation type	Enum_8	1	Rotation:: 0 Translation:: 1

Response: sWA EncoderTransformationType

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set encoder transformation type	String	25	CoLa A: EncoderTransformationType

Request example

CoLa A (ASCII)

<STX>sWN EncoderTransformationType 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 57 4E 20 45 6E 63 6F 64 65 72 54 72 61 6E 73 66 6F 72 6D 61 74 69 6F 6E 54 79 70 65 20 00 37

Response example

CoLa A (ASCII)

<STX>sWA EncoderTransformationType<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1D 73 57 41 20 45 6E 63 6F 64 65 72 54 72 61 6E 73 66 6F 72 6D 61 74 69 6F 6E 54 79 70 65 18

WRITE

Set Start Orientation for Encoder Transformation Type Rotation [sWN EncoderRotation]

Set start orientation for encoder transformation type rotation.

Access: Authorized client user level is required.

Request: sWN EncoderRotation

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set encoder rotation	String	15	CoLa A: EncoderRotation
Yaw in 1/10000°	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -3600000 d (FFC91180h) +3600000 d (36EE80h)
Pitch in 1/10000°	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -3600000d (FFC91180h) +3600000 d (36EE80h)
Roll in 1/10000°	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -3600000d (FFC91180h) +3600000 d (36EE80h)

Response: sWA EncoderRotation

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set encoder rotation	String	15	CoLa A: EncoderRotation

Request example

CoLa A (ASCII)

<STX>sWN EncoderRotation FFF24460 0 DBBA0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 20 73 57 4E 20 45 6E 63 6F 64 65 72 52 6F 74 61 74 69 6F 6E 20 FF F2 44 60 00 00 00 00 00 0D BB A0 35

Response example

CoLa A (ASCII)

<STX>sWA EncoderRotation<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 13 73 57 41 20 45 6E 63 6F 64 65 72 52 6F 74 61 74 69 6F 6E 25

WRITE

Set Start Orientation for Encoder Transformation Type Translation [sWN EncoderTranslation]

Set start orientation for encoder transformation type translation.

Access: Authorized client user level is required.

Request: sWN EncoderTranslation

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set encoder translation	String	18	CoLa A: EncoderTranslation
Offset for X in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Y in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Z in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)

Response: sWA EncoderTranslation

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set encoder translation	String	18	CoLa A: EncoderTranslation

Request example

CoLa A (ASCII)

<STX>sWN EncoderTranslation FFFE7960 0 186A0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 23 73 57 4E 20 45 6E 63 6F 64 65 72 54 72 61 6E 73 6C 61 74 69 6F 6E 20 FF FE 79 60 00 00 00 00 00 01 86 A0 4A

Response example

CoLa A (ASCII)

<STX>sWA EncoderTranslation<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 16 73 57 41 20 45 6E 63 6F 64 65 72 54 72 61 6E 73 6C 61 74 69 6F 6E 5A

WRITE

Set Rotation Offset [sWN RotationOffset]

Set rotation offset.

Access: Authorized client user level is required.

Request: sWN RotationOffset

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set a rotation offset	String	14	CoLa A: RotationOffset
Offset for X in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Y in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Z in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)

Response: sWA RotationOffset

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set rotation offset	String	14	CoLa A: RotationOffset
Answer	String	3	CoLa A: sRA
Read rotation offset	String	14	CoLa A: RotationOffset
Offset for X in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Y in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Z in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)

Request example

CoLa A (ASCII)

<STX>sWN RotationOffset FFFE7960 0 186A0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 57 4E 20 52 6F 74 61 74 69 6F 6E 4F 66 66 73 65 74 20 FF FE 79 60 00 00 00 00 00 01 86 A0 4C

READ

Read for Rotation Offset [sRN RotationOffset]

Read for rotation offset.

Access: Authorized client user level is required.

Request: sRN RotationOffset

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Read rotation offset	String	14	CoLa A: RotationOffset

Response: sRA RotationOffset

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Read rotation offset	String	14	CoLa A: RotationOffset
Offset for X in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Y in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)
Offset for Z in mm	Int_32	4	Default: Min: Max: CoLa A: +0 d (0h) -100000 d (FFFE7960h) +100000 d (186A0h)

Request example

CoLa A (ASCII)

<STX>sRN RotationOffset<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 12 73 52 4E 20 52 6F 74 61 74 69 6F 6E 4F 66 66 73 65 74 56

Response example

CoLa A (ASCII)

<STX>sRA RotationOffset FFFE7960 0 186A0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 1F 73 52 41 20 52 6F 74 61 74 69 6F 6E 4F 66 66 73 65 74 20 FF FE 79 60 00 00 00 00 00 01 86 A0 46

WRITE

Set Scan Merger Trigger [sWN ScanMergeTrigger]

Set Scan Merger trigger.

Access: Authorized client user level is required.

Request: sWN ScanMergeTrigger

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Select Trigger for Scan Merger	String	16	CoLa A: ScanMergeTrigger
Trigger source	Enum_8	1	Command:: 0 Digital input:: 1

Response: sWA ScanMergeTrigger

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Select Trigger for Scan Merger	String	16	CoLa A: ScanMergeTrigger

Request example

CoLa A (ASCII)

<STX>sWN ScanMergeTrigger 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 16 73 57 4E 20 53 63 61 6E 4D 65 72 67 65 54 72 69 67 67 65 72 20 01 54

Response example

CoLa A (ASCII)

<STX>sWA ScanMergeTrigger<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 14 73 57 41 20 53 63 61 6E 4D 65 72 67 65 54 72 69 67 67 65 72 7A

WRITE

Set Scan Merger [sWN ScanMergerEnabled]

Set Scan Merger.

Access: Authorized client user level is required.

Request: sWN ScanMergerEnabled

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set Scan Merger	String	17	CoLa A: ScanMergerEnabled
Enable/ Disable	Bool_1	1	Disable:: 0 Enable:: 1

Response: sWA ScanMergerEnabled

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set Scan Merger	String	17	CoLa A: ScanMergerEnabled

Request example

CoLa A (ASCII)

<STX>sWN ScanMergerEnabled 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 17 73 57 4E 20 53 63 61 6E 4D 65 72 67 65 72 45 6E 61 62 6C 65 64 20 01 3B

Response example

CoLa A (ASCII)

<STX>sWA ScanMergerEnabled<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 15 73 57 41 20 53 63 61 6E 4D 65 72 67 65 72 45 6E 61 62 6C 65 64 15

Motor Synchronization

WRITE

Set Synchronization Mode [sWN SYMode]

Set synchronization mode.

Access: Authorized client user level is required.

Request: sWN SYMode

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set sync mode	String	6	CoLa A: SYMode
Synchronization mode data	Bool_1	1	No sync:: 0 Sync by wire:: 1 Sync by PTP:: 3

Response: sWA SYMode

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set sync mode	String	6	CoLa A: SYMode

Request example

CoLa A (ASCII)

<STX>sWN SYMode 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 57 4E 20 53 59 4D 6F 64 65 20 01 42

Response example

CoLa A (ASCII)

<STX>sWA SYMode<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 57 41 20 53 59 4D 6F 64 65 6C

WRITE

Set Synchronization Phase [sWN SYPhase]

Set synchronization phase.

Access: Authorized client user level is required.

Request: sWN SYPhase

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set sync phase	String	7	CoLa A: SYPhase
Synchronization phase data	Int_16	2	Default: CoLa A: +180d (B4h) -180d … +180d (FF4Ch … B4h)

Response: sWA SYPhase

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set sync phase	String	7	CoLa A: SYPhase

Request example

CoLa A (ASCII)

<STX>sWN SYPhase +90<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 57 4E 20 53 59 50 68 61 73 65 20 00 5A 75

Response example

CoLa A (ASCII)

<STX>sWA SYPhase<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0B 73 57 41 20 53 59 50 68 61 73 65 00

READ

Read for Motor Synchronization [sRN MotorSyncStatus]

Read for Motor synchronization.

Access: Authorized client user level is required.

Request: sRN MotorSyncStatus

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Read motor synchronization status	String	15	CoLa A: MotorSyncStatus

Response: sRA MotorSyncStatus

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Read motor synchronization status	String	15	CoLa A: MotorSyncStatus
Synchronization status	Enum_8	1	Not synchronized:: 0 Only Time synchronized:: 1 Synchronized:: 2

Request example

CoLa A (ASCII)

<STX>sRN MotorSyncStatus<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 13 73 52 4E 20 4D 6F 74 6F 72 53 79 6E 63 53 74 61 74 75 73 17

Response example

CoLa A (ASCII)

<STX>sRA MotorSyncStatus 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 15 73 52 41 20 4D 6F 74 6F 72 53 79 6E 63 53 74 61 74 75 73 20 00 38

Encoder

WRITE

Set Increment Source [sWN LICsrc]

Set increment source.

Access: Authorized client user level is required.

Request: sWN LICsrc

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Write	String	3	CoLa A: sWN
Set increment source	String	6	CoLa A: LICsrc
Parameter	Enum_8	1	Encoder: CoLa A: 1

Response: sWA LICsrc

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sWA
Set increment source	String	6	CoLa A: LICsrc

Request example

CoLa A (ASCII)

<STX>sWN LICsrc 1<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 57 4E 20 4C 49 43 73 72 63 20 01 4F

Response example

CoLa A (ASCII)

<STX>sWA LICsrc<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 57 41 20 4C 49 43 73 72 63 61

WRITE

Set Encoder Settings [sWN LICencset]

Define if and which type of encoder is connected to the device so that input signals are processed correctly.

Telegram structure: sWN LICencset

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Encoder settings	String	9		LICencset	4C 49 43 65 6E 63 73 65 74
Encoder setting		Enum_8	1	Off: Single increment/INC1: Direction recognition (phase): Direction recognition (level): Fixed speed:	0 1 2 3 4	00 01 02 03 04

Example: sWN LICencset

CoLa A (ASCII)

<STX>sWN{SPC}LICencset{SPC}0<ETX>

<STX>sWN LICencset 0<ETX>

sWN LICencset 0

02 73 57 4E 20 4C 49 43 65 6E 63 73 65 74 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 57 4E 20 4C 49 43 65 6E 63 73 65 74 20 00 26

73 57 4E 20 4C 49 43 65 6E 63 73 65 74 20 00

Telegram structure: sWA LICencset

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Encoder settings	String	9		LICencset	4C 49 43 65 6E 63 73 65 74

Example: sWA LICencset

CoLa A (ASCII)

<STX>sWA{SPC}LICencset<ETX>

02 73 57 41 20 4C 49 43 65 6E 63 73 65 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 57 41 20 4C 49 43 65 6E 63 73 65 74 20 29

WRITE

Set Encoder Resolution [sWN LICencres]

Determine the encoder resolution in mm/increment.

Telegram structure: sWN LICencres

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 4E
Command	Set encoder resolution	String	9		LICencres	4C 49 43 65 6E 63 72 65 73
Encoder resolution	Resolution value in mm/Inc as float according to IEEE754	Real	4		+0.001d … +2000d	3A 83 12 6F … 44 FA 00 00 (see IEEE 754)

Example: sWN LICencres

CoLa A (ASCII)

<STX>sWN{SPC}LICencres{SPC}+1000<ETX>

<STX>sWN LICencres +1000<ETX>

sWN LICencres +1000

02 73 57 4E 20 4C 49 43 65 6E 63 72 65 73 20 2B 31 30 30 30 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 57 4E 20 4C 49 43 65 6E 63 72 65 73 20 44 7A 00 00 1E

73 57 4E 20 4C 49 43 65 6E 63 72 65 73 20 44 7A 00 00

Telegram structure: sWA LICencres

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		sWA	73 57 41
Command	Set encoder resolution	String	9		LICencres	4C 49 43 65 6E 63 72 65 73

Example: sWA LICencres

CoLa A (ASCII)

<STX>sWA{SPC}LICencres<ETX>

02 73 57 41 20 4C 49 43 65 6E 63 72 65 73 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 57 41 20 4C 49 43 65 6E 63 72 65 73 20 2F

READ

Read Encoder Speed [sRN LICencsp]

Read encoder speed.

Access: No additional user-level requirement is specified in this telegram table.

Request: sRN LICencsp

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Read	String	3	CoLa A: sRN
Read encoder speed	String	8	CoLa A: LICencsp

Response: sRA LICencsp

Telegram part / meaning	Variable type	Length (bytes)	Values, ranges, and notes
Answer	String	3	CoLa A: sRA
Read encoder speed	String	8	CoLa A: LICencsp
[Speed in m/s as float according to IEEE754]	Real	4	CoLa A: 0h … FFFFFFFFh

Request example

CoLa A (ASCII)

<STX>sRN LICencsp<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 52 4E 20 4C 49 43 65 6E 63 73 70 62

Response example

CoLa A (ASCII)

<STX>sRA LICencsp 0<ETX>

CoLa B (binary)

02 02 02 02 00 00 00 11 73 52 41 20 4C 49 43 65 6E 63 73 70 20 00 00 00 00 4D

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