# LRS4000 API | CoLa Telegrams (CoLa A and CoLa B)
> LRS4000 CoLa telegram reference with sRN, sWN, sMN, and sEN commands, parameter structures, and CoLa A and CoLa B examples.
Source: https://sickag.github.io/sick_lidar_developer_guide/LRS4000/api-cola-telegrams/
# 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](https://sickag.github.io/sick_lidar_developer_guide/configuration/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](https://sickag.github.io/sick_lidar_developer_guide/LRS4000/api-cola-telegrams/#log-in-smn-setaccessmode): 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](https://sickag.github.io/sick_lidar_developer_guide/LRS4000/api-rest-openapi/)
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
### 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: | `` | `` |
**Example: sMN SetAccessMode - Log in as “Authorized client”**
**CoLa A (ASCII)**
```text
sMN{SPC}SetAccessMode{SPC}3{SPC}
```
```text
sMN SetAccessMode 3
```
```text
sMN SetAccessMode 3
```
**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)**
```text
sAN{SPC}SetAccessMode{SPC}1
```
```text
02 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 31 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN{SPC}mSCloadfacdef
```
```text
sMN mSCloadfacdef
```
```text
sMN mSCloadfacdef
```
```text
02 73 4D 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 03
```
**CoLa B (binary)**
```text
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
```
```text
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` |
### 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)**
```text
sMN{SPC}mSCloadappdef
```
```text
sMN mSCloadappdef
```
```text
sMN mSCloadappdef
```
```text
02 73 4D 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sAN{SPC}mSCloadappdef
```
```text
02 73 41 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03
```
**CoLa B (binary)**
```text
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
```
### 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 | | `` | |
Check password “testtest” for 'Authorized client'.
**Example: sMN CheckPassword**
**CoLa A (ASCII)**
```text
sMN{SPC}CheckPassword{SPC}3{SPC}1920E4C9
```
```text
sMN CheckPassword 3 1920E4C9
```
```text
sMN CheckPassword 3 1920E4C9
```
```text
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)**
```text
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
```
```text
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)**
```text
sAN{SPC}CheckPassword{SPC}1
```
```text
02 73 41 4E 20 43 68 65 63 6B 50 61 73 73 77 6F 72 64 20 31 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN{SPC}mEEwriteall
```
```text
sMN mEEwriteall
```
```text
sMN mEEwriteall
```
```text
02 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0F 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 21
```
```text
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)**
```text
sAN{SPC}mEEwriteall{SPC}1
```
```text
02 73 41 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 20 31 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN{SPC}Run
```
```text
sMN Run
```
```text
sMN Run
```
```text
02 73 4D 4E 20 52 75 6E 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 07 73 4D 4E 20 52 75 6E 19
```
```text
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)**
```text
sAN{SPC}Run{SPC}1
```
```text
02 73 41 4E 20 52 75 6E 20 31 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 09 73 41 4E 20 52 75 6E 20 01 34
```
### 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)**
```text
sMN{SPC}mSCreboot
```
```text
sMN mSCreboot
```
```text
sMN mSCreboot
```
```text
02 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0D 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 2C
```
```text
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)**
```text
sAN{SPC}mSCreboot
```
```text
02 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0E 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 20 00
```
## Status
### 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)**
```text
sRN LMCmeasstate
```
**CoLa B (binary)**
```text
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)**
```text
sRA LMCmeasstate 7
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN{SPC}SCdevicestate
```
```text
sRN SCdevicestate
```
```text
sRN SCdevicestate
```
```text
02 73 52 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sRA{SPC}SCdevicestate{SPC}1
```
```text
02 73 52 41 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 31 03
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN DIornr
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 52 4E 20 44 49 6F 72 6E 72 43
```
**Response example**
**CoLa A (ASCII)**
```text
sRA DIornr 7 1098855
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN{SPC}DeviceIdent
```
```text
sRN DeviceIdent
```
```text
sRN DeviceIdent
```
```text
02 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0F 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 25
```
```text
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 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)**
```text
sRN{SPC}SerialNumber
```
```text
sRN SerialNumber
```
```text
sRN SerialNumber
```
```text
02 73 52 4E 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sRA{SPC}SerialNumber{SPC}8{SPC}23360024
```
```text
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)**
```text
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 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)**
```text
sRN{SPC}DItype
```
```text
sRN DItype
```
```text
sRN DItype
```
```text
02 73 52 4E 20 44 49 74 79 70 65 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 52 4E 20 44 49 74 79 70 65 5A
```
```text
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)**
```text
sRA{SPC}DItype{SPC}B{SPC}picoScan150
```
```text
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)**
```text
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
```
### 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)**
```text
sWA{SPC}LocationName
```
```text
02 73 57 41 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 03
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN{SPC}LocationName
```
```text
sRN LocationName
```
```text
sRN LocationName
```
```text
02 73 52 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 03
```
**CoLa B (binary)**
```text
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
```
```text
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 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)**
```text
sRN{SPC}LMPscancfg
```
```text
sRN LMPscancfg
```
```text
sRN LMPscancfg
```
```text
02 73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0E 73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67 63
```
```text
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)**
```text
sRA{SPC}LMPscancfg{SPC}9C4{SPC}1{SPC}960{SPC}FFE488C0{SPC}1B7740
```
```text
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)**
```text
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
```
### 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)**
```text
sMN mCLsetscancfglist 1
```
**CoLa B (binary)**
```text
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)**
```text
sAN mCLsetscancfglist 0
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN{SPC}LMCstandby
```
```text
sMN LMCstandby
```
```text
sMN LMCstandby
```
```text
02 73 4D 4E 20 4C 4D 43 73 74 61 6E 64 62 79 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0E 73 4D 4E 20 4C 4D 43 73 74 61 6E 64 62 79 65
```
```text
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)**
```text
sAN{SPC}LMCstandby{SPC}0
```
```text
02 73 41 4E 20 4C 4D 43 73 74 61 6E 64 62 79 20 30 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN{SPC}LMCstartmeas
```
```text
sMN LMCstartmeas
```
```text
sMN LMCstartmeas
```
```text
02 73 4D 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sAN{SPC}LMCstartmeas{SPC}0
```
```text
02 73 41 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 20 30 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN{SPC}SensitivityMode{SPC}1
```
```text
sWN SensitivityMode 1
```
```text
sWN SensitivityMode 1
```
```text
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)**
```text
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
```
```text
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)**
```text
sWA{SPC}SensitivityMode
```
```text
02 73 57 41 20 53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65 03
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWN{SPC}TSCRole{SPC}1
```
```text
sWN TSCRole 1
```
```text
sWN TSCRole 1
```
```text
02 73 57 4E 20 54 53 43 52 6F 6C 65 20 31 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0D 73 57 4E 20 54 53 43 52 6F 6C 65 20 01 1B
```
```text
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)**
```text
sWA{SPC}TSCRole
```
```text
02 73 57 41 20 54 53 43 52 6F 6C 65 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0C 73 57 41 20 54 53 43 52 6F 6C 65 20 15
```
### 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)**
```text
sMN{SPC}LSPsetdatetime{SPC}+2010{SPC}+01{SPC}+26{SPC}+10{SPC}+35{SPC}0{SPC}0
```
```text
sMN LSPsetdatetime +2010 +01 +26 +10 +35 0 0
```
```text
sMN LSPsetdatetime +2010 +01 +26 +10 +35 0 0
```
```text
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)**
```text
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
```
```text
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)**
```text
sAN{SPC}LSPsetdatetime{SPC}0
```
```text
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)**
```text
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 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)**
```text
sRN DeviceTime
```
**CoLa B (binary)**
```text
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)**
```text
sRA DeviceTime 0
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN{SPC}TSCTCSrvAddr{SPC}C0{SPC}A8{SPC}00{SPC}0B
```
```text
sWN TSCTCSrvAddr C0 A8 00 0B
```
```text
sWN TSCTCSrvAddr C0 A8 00 0B
```
```text
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)**
```text
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
```
```text
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)**
```text
sWA{SPC}TSCTCSrvAddr
```
```text
02 73 57 41 20 54 53 43 54 43 53 72 76 41 64 64 72 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWA{SPC}TSCTCtimezone
```
```text
02 73 57 41 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN{SPC}TSCTCupdatetime{SPC}+600
```
```text
sWN TSCTCupdatetime +600
```
```text
sWN TSCTCupdatetime +600
```
```text
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)**
```text
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
```
```text
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)**
```text
sWA{SPC}TSCTCupdatetime
```
```text
02 73 57 41 20 54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65 03
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWN{SPC}LFPparticle{SPC}1{SPC}+500
```
```text
sWN LFPparticle 1 +500
```
```text
sWN LFPparticle 1 +500
```
```text
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)**
```text
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
```
```text
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)**
```text
sWA{SPC}LFPparticle
```
```text
02 73 57 41 20 4C 46 50 70 61 72 74 69 63 6C 65 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN LFPmeanfilter 1 +10 0
```
**CoLa B (binary)**
```text
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)**
```text
sWA LFPmeanfilter
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN{SPC}FREchoFilter{SPC}1
```
```text
sWN FREchoFilter 1
```
```text
sWN FREchoFilter 1
```
```text
02 73 57 4E 20 46 52 45 63 68 6F 46 69 6C 74 65 72 20 31 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sWA{SPC}FREchoFilter
```
```text
02 73 57 41 20 46 52 45 63 68 6F 46 69 6C 74 65 72 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN LFPmedianfilter 1 3
```
**CoLa B (binary)**
```text
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)**
```text
sWA LFPmedianfilter
```
**CoLa B (binary)**
```text
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
### 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 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)**
```text
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
```
```text
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)**
```text
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 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)**
```text
sRN{SPC}ContaminationData
```
```text
sRN ContaminationData
```
```text
sRN ContaminationData
```
```text
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)**
```text
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
```
```text
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 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)**
```text
sRN{SPC}ContaminationResult
```
```text
sRN ContaminationResult
```
```text
sRN ContaminationResult
```
```text
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)**
```text
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
```
```text
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)**
```text
sRA{SPC}ContaminationResult{SPC}0{SPC}0
```
```text
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)**
```text
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
```
### 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)**
```text
sEN{SPC}ContaminationResult{SPC}1
```
```text
sEN ContaminationResult 1
```
```text
sEN ContaminationResult 1
```
```text
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)**
```text
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
```
```text
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)**
```text
sRA{SPC}ContaminationResult{SPC}1{SPC}0
```
```text
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)**
```text
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
### 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)**
```text
sWN{SPC}EIIpAddr{SPC}C0{SPC}A8{SPC}0{SPC}2
```
```text
sWN EIIpAddr C0 A8 0 2
```
```text
sWN EIIpAddr C0 A8 0 2
```
```text
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)**
```text
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
```
```text
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)**
```text
sWA{SPC}EIIpAddr
```
```text
02 73 57 41 20 45 49 49 70 41 64 64 72 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0D 73 57 41 20 45 49 49 70 41 64 64 72 20 63
```
### 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)**
```text
sRN{SPC}EIIpAddr
```
```text
sRN EIIpAddr
```
```text
sRN EIIpAddr
```
```text
02 73 52 4E 20 45 49 49 70 41 64 64 72 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0C 73 52 4E 20 45 49 49 70 41 64 64 72 49
```
```text
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` |
### 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)**
```text
sWN{SPC}EIgate{SPC}C0{SPC}A8{SPC}00{SPC}01
```
```text
sWN EIgate C0 A8 00 01
```
```text
sWN EIgate C0 A8 00 01
```
```text
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)**
```text
02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 67 61 74 65 20 C0 A8 00 01 18
```
```text
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)**
```text
sWA{SPC}EIgate
```
```text
02 73 57 41 20 45 49 67 61 74 65 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0B 73 57 41 20 45 49 67 61 74 65 20 7E
```
### 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)**
```text
sRN{SPC}EIgate
```
```text
sRN EIgate
```
```text
sRN EIgate
```
```text
02 73 52 4E 20 45 49 67 61 74 65 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 67 61 74 65 54
```
```text
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` |
### 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)**
```text
sWN{SPC}EImask{SPC}FF{SPC}FF{SPC}FE{SPC}00
```
```text
sWN EImask FF FF FE 00
```
```text
sWN EImask FF FF FE 00
```
```text
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)**
```text
02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 6D 61 73 6B 20 FF FF FE 00 8C
```
```text
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)**
```text
sWA{SPC}EImask
```
```text
02 73 57 41 20 45 49 6D 61 73 6B 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0B 73 57 41 20 45 49 6D 61 73 6B 20 7D
```
### 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)**
```text
sRN{SPC}EImask
```
```text
sRN EImask
```
```text
sRN EImask
```
```text
02 73 52 4E 20 45 49 6D 61 73 6B 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 6D 61 73 6B 57
```
```text
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` |
### 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)**
```text
sWN EtherColaTransmitTimeout +250
```
**CoLa B (binary)**
```text
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)**
```text
sWA EtherColaTransmitTimeout
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWN EnableColaScan 1
```
**CoLa B (binary)**
```text
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)**
```text
sWA EnableColaScan
```
**CoLa B (binary)**
```text
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
### 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` |
### 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)**
```text
sMN{SPC}GetWebserverEnabled
```
```text
sMN GetWebserverEnabled
```
```text
sMN GetWebserverEnabled
```
```text
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)**
```text
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
```
```text
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)**
```text
sAN{SPC}GetWebserverEnabled{SPC}1
```
```text
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)**
```text
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 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)**
```text
sRN{SPC}PortConfiguration
```
```text
sRN PortConfiguration
```
```text
sRN PortConfiguration
```
```text
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)**
```text
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
```
```text
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 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)**
```text
sRN{SPC}LIDinputstate
```
```text
sRN LIDinputstate
```
```text
sRN LIDinputstate
```
```text
02 73 52 4E 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65 03
```
**CoLa B (binary)**
```text
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
```
```text
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 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)**
```text
sRN{SPC}LIDoutputstate
```
```text
sRN LIDoutputstate
```
```text
sRN LIDoutputstate
```
```text
02 73 52 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 03
```
**CoLa B (binary)**
```text
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
```
```text
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.
### 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)**
```text
sEN{SPC}LIDoutputstate{SPC}1
```
```text
sEN LIDoutputstate 1
```
```text
sEN LIDoutputstate 1
```
```text
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)**
```text
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
```
```text
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` |
### 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)**
```text
sMN{SPC}mDOSetOutput{SPC}1{SPC}1
```
```text
sMN mDOSetOutput 1 1
```
```text
sMN mDOSetOutput 1 1
```
```text
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)**
```text
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
```
```text
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)**
```text
sAN{SPC}mDOSetOutput{SPC}1
```
```text
02 73 41 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 31 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN{SPC}LIDrstoutpcnt
```
```text
sMN LIDrstoutpcnt
```
```text
sMN LIDrstoutpcnt
```
```text
02 73 4D 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sAN{SPC}LIDrstoutpcnt{SPC}0
```
```text
02 73 41 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 20 30 03
```
**CoLa B (binary)**
```text
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
### 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)**
```text
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
```
```text
sWN LMDscandatacfg 0 0 1 0 0 0 0 0 0 0 0 +1
```
```text
sWN LMDscandatacfg 0 0 1 0 0 0 0 0 0 0 0 +1
```
```text
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)**
```text
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
```
```text
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)**
```text
sWA{SPC}LMDscandatacfg
```
```text
02 73 57 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 03
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN LMPoutputRange 1 +400 0 +900000
```
**CoLa B (binary)**
```text
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)**
```text
sWA LMPoutputRange
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN LMPoutputRange
```
**CoLa B (binary)**
```text
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)**
```text
sRA LMPoutputRange 1 190 0 DBBA0
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN LMDscandatascalefactor 3F800000
```
**CoLa B (binary)**
```text
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)**
```text
sWA LMDscandatascalefactor
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN LMDscandatascalefactor
```
**CoLa B (binary)**
```text
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)**
```text
sRA LMDscandatascalefactor 3F800000
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sRN{SPC}LMDscandata
```
```text
sRN LMDscandata
```
```text
sRN LMDscandata
```
```text
02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 05
```
```text
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.
### 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)**
```text
sEN{SPC}LMDscandata{SPC}1
```
```text
sEN LMDscandata 1
```
```text
sEN LMDscandata 1
```
```text
02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sEA{SPC}LMDscandata{SPC}1
```
```text
02 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
```
**CoLa B (binary)**
```text
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.
### 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)**
```text
sWA{SPC}ScanDataFormat
```
```text
02 73 57 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 03
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWN EnableInertialMeasurementUnit 0
```
**CoLa B (binary)**
```text
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)**
```text
sWA EnableInertialMeasurementUnit
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN InertialMeasurementUnit
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWA{SPC}LFPradialDistanceRangeFilter
```
```text
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)**
```text
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
### 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)**
```text
sMN{SPC}ActivateEvaluationGroup{SPC}1{SPC}1{SPC}0
```
```text
sMN ActivateEvaluationGroup 1 1 0
```
```text
sMN ActivateEvaluationGroup 1 1 0
```
```text
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)**
```text
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
```
```text
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` |
### 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)**
```text
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
```
```text
sMN SetFieldEvaluationContour 1 4 +2000 +1000 +0 +1000 +0 +0 +2000 +0 +0 +0
```
```text
sMN SetFieldEvaluationContour 1 4 +2000 +1000 +0 +1000 +0 +0 +2000 +0 +0 +0
```
```text
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)**
```text
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
```
```text
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)**
```text
sAN{SPC}SetFieldEvaluationContour{SPC}0
```
```text
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)**
```text
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
```
### 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: `sMN GetFieldEvaluationContour 1`
- 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)**
```text
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
```
```text
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)**
```text
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 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)**
```text
sRN FieldEvaluationApplicationState
```
**CoLa B (binary)**
```text
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)**
```text
sRA FieldEvaluationApplicationState 1
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN{SPC}FieldEvaluationResult
```
```text
sRN FieldEvaluationResult
```
```text
sRN FieldEvaluationResult
```
```text
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)**
```text
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
```
```text
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` |
### 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)**
```text
sRN{SPC}perpendicularDistanceResult
```
```text
sRN perpendicularDistanceResult
```
```text
sRN perpendicularDistanceResult
```
```text
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)**
```text
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
```
```text
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)**
```text
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
```
```text
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)**
```text
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
```
### 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)**
```text
sEN{SPC}perpendicularDistanceResult{SPC}1
```
```text
sEN perpendicularDistanceResult 1
```
```text
sEN perpendicularDistanceResult 1
```
```text
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)**
```text
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
```
```text
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)**
```text
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
```
```text
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)**
```text
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 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)**
```text
sRN{SPC}EvaluationGroupType
```
```text
sRN EvaluationGroupType
```
```text
sRN EvaluationGroupType
```
```text
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)**
```text
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
```
```text
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 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)**
```text
sRN OPcurtmpdev
```
**CoLa B (binary)**
```text
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)**
```text
sRA OPcurtmpdev 420C0000
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN{SPC}ODoprh
```
```text
sRN ODoprh
```
```text
sRN ODoprh
```
```text
02 73 52 4E 20 4F 44 6F 70 72 68 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 52 4E 20 4F 44 6F 70 72 68 41
```
```text
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)**
```text
sRA{SPC}ODoprh{SPC}1B50B
```
```text
02 73 52 41 20 4F 44 6F 70 72 68 20 31 42 35 30 42 03
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN{SPC}ODpwrc
```
```text
sRN ODpwrc
```
```text
sRN ODpwrc
```
```text
02 73 52 4E 20 4F 44 70 77 72 63 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 52 4E 20 4F 44 70 77 72 63 52
```
```text
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)**
```text
sRA{SPC}ODpwrc{SPC}9A
```
```text
02 73 52 41 20 4F 44 70 77 72 63 20 39 41 03
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWN ScanMergerSource 1
```
**CoLa B (binary)**
```text
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)**
```text
sWA ScanMergerSource
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN StartScanMerge
```
**CoLa B (binary)**
```text
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)**
```text
sAN StartScanMerge
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sMN StopScanMerge
```
**CoLa B (binary)**
```text
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)**
```text
sAN StopScanMerge
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN MergeSaving
```
**CoLa B (binary)**
```text
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)**
```text
sRA MergeSaving 0
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN EncoderTransformationType 0
```
**CoLa B (binary)**
```text
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)**
```text
sWA EncoderTransformationType
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN EncoderRotation FFF24460 0 DBBA0
```
**CoLa B (binary)**
```text
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)**
```text
sWA EncoderRotation
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN EncoderTranslation FFFE7960 0 186A0
```
**CoLa B (binary)**
```text
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)**
```text
sWA EncoderTranslation
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN RotationOffset FFFE7960 0 186A0
```
**CoLa B (binary)**
```text
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 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)**
```text
sRN RotationOffset
```
**CoLa B (binary)**
```text
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)**
```text
sRA RotationOffset FFFE7960 0 186A0
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN ScanMergeTrigger 1
```
**CoLa B (binary)**
```text
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)**
```text
sWA ScanMergeTrigger
```
**CoLa B (binary)**
```text
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
```
### 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)**
```text
sWN ScanMergerEnabled 1
```
**CoLa B (binary)**
```text
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)**
```text
sWA ScanMergerEnabled
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWN SYMode 1
```
**CoLa B (binary)**
```text
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)**
```text
sWA SYMode
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 57 41 20 53 59 4D 6F 64 65 6C
```
### 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)**
```text
sWN SYPhase +90
```
**CoLa B (binary)**
```text
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)**
```text
sWA SYPhase
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0B 73 57 41 20 53 59 50 68 61 73 65 00
```
### 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)**
```text
sRN MotorSyncStatus
```
**CoLa B (binary)**
```text
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)**
```text
sRA MotorSyncStatus 0
```
**CoLa B (binary)**
```text
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
### 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)**
```text
sWN LICsrc 1
```
**CoLa B (binary)**
```text
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)**
```text
sWA LICsrc
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0A 73 57 41 20 4C 49 43 73 72 63 61
```
### 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)**
```text
sWN{SPC}LICencset{SPC}0
```
```text
sWN LICencset 0
```
```text
sWN LICencset 0
```
```text
02 73 57 4E 20 4C 49 43 65 6E 63 73 65 74 20 30 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0F 73 57 4E 20 4C 49 43 65 6E 63 73 65 74 20 00 26
```
```text
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)**
```text
sWA{SPC}LICencset
```
```text
02 73 57 41 20 4C 49 43 65 6E 63 73 65 74 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0E 73 57 41 20 4C 49 43 65 6E 63 73 65 74 20 29
```
### 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)**
```text
sWN{SPC}LICencres{SPC}+1000
```
```text
sWN LICencres +1000
```
```text
sWN LICencres +1000
```
```text
02 73 57 4E 20 4C 49 43 65 6E 63 72 65 73 20 2B 31 30 30 30 03
```
**CoLa B (binary)**
```text
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
```
```text
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)**
```text
sWA{SPC}LICencres
```
```text
02 73 57 41 20 4C 49 43 65 6E 63 72 65 73 03
```
**CoLa B (binary)**
```text
02 02 02 02 00 00 00 0E 73 57 41 20 4C 49 43 65 6E 63 72 65 73 20 2F
```
### 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)**
```text
sRN LICencsp
```
**CoLa B (binary)**
```text
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)**
```text
sRA LICencsp 0
```
**CoLa B (binary)**
```text
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
```