Release notes

Compatible with: picoScan100

General information

V1.x.x is standard firmware for all picoScan150 variants, while V2.x.x is standard firmware for all picoScan150 and picoScan120 variants. picoScan150 and picoScan120 require separate firmware files (.spk / .spk.signed), which cannot be installed on the other product variant. Downgrades are not possible. A firmware update typically does not affect active parameter settings or purchased features / licenses for picoScan150 variants. Restart the device after activating or deactivating licenses.

Update instructions

Recommended update path to V2.3.3.

Current firmware	Target firmware	Recommended update tool / procedure	Firmware update file
V2.3.1	V2.3.3	SOPASair, web browser, or REST API	picoScan100_V2.3.3.spk.signed
V2.2.1	V2.3.3	SOPASair, web browser, or REST API	picoScan100_V2.3.3.spk.signed
V2.1.0	V2.3.3	SOPASair, web browser, or REST API	picoScan100_V2.3.3.spk
V2.0.0	V2.3.3	SOPAS ET	picoScan100_V2.3.3.spk
V1.x.x	V2.3.3	SOPAS ET	picoScan100_V2.3.3.spk

After selecting a .spk.signed file, the upload process may take several seconds. Once the upload is complete, the Install now button becomes active and allows the update to begin. After a successful update, the device indicates completion by showing a green LED again. If the dialog becomes unresponsive, refresh the browser.

Firmware update via SOPASair.

Recommended for firmware versions >= V2.1.0. SOPASair offers the possibility of a firmware update via web browser.

Headless firmware update via HTTP / REST.

Possible with firmware versions >= V1.4.0.

The firmware update takes place in two steps:

1. Transfer the firmware file (.spk) to the device via HTTP:

PUT <ip>/api/update

1. Trigger the actual update via HTTP:

POST <ip>/api/RunFirmwareUpdate

The current update status can be monitored via:

GET <ip>/api/UpdateState

The OpenAPI description is available in the product download section.

Firmware update via SOPAS ET.

Recommended for firmware versions <= V2.0.0.

1. Save and unpack the files on your local hard disk. Use full admin rights on your PC.
2. Make sure the picoScan100 is connected via Ethernet to your PC and booted up.
3. Keep the power supply stable during the update process.
4. Use SOPAS ET or AppManager for firmware updates. The following steps refer to SOPAS ET.
5. Search for the connected picoScan100 and drag and drop the device into the SOPAS project.
6. Recommendation: save your parameter file (.sopas) before starting the update.
7. Open the settings and choose Download firmware.
8. Select the firmware package (.spk) and start the update process.
9. Log in to the picoScan100 with user level Service.
10. The update procedure may take up to 2 minutes.
11. Wait until the reboot is completed and the device LED turns green.
12. Check the SOPAS window for the correct firmware version.
13. Depending on the firmware update, the SOPAS ET device driver may need to be reinstalled by pressing install device driver.
14. Before using the picoScan100 for operation, ensure the device works as expected and all parameters are set as intended.
15. In case of uncertainty, set factory defaults in the device with user level Service, then load your parameter file (.sopas) onto the device.
16. Done.

Firmware V2.3.3

Field	Value
Compatible with	picoScan120 and picoScan150
Release date	cw 31/2026
Effective from	S/N 2632xxxx

Important note: Devices with serial numbers >= 2632xxx can only be operated with firmware version V2.3.3 or later. Earlier firmware versions are not supported.

Improvements and fixes.

Improvement of motor control.

With this firmware version, the motor control for picoScan150 and picoScan120 has been improved.

Known issues.

• Contamination indication: The contamination indication segments show clean if the measurement is stopped or the device is in stand-by mode. After a device reboot, the contamination indication output may initialize with an incorrect logical state when assigned to a digital output with inversion enabled. The output status is corrected once a new contamination event is detected.
• Possible file error when executing system diagnosis under high load: When the system diagnosis is called on a device where Particle filter, Moving average filter, and Streaming are active, a file error could occur. Recommendation: deactivate those filters before executing the system diagnosis.
• Startup time: Device availability may experience a slight delay with very low probability. In this case, the device will be fully operational within 20 seconds.
• Parameterization error message: When changing input and output settings or importing configuration files, an occasional message can appear in the diagnostics overview: Too many functions are active at the same time. Deactivate functions that are not required. This message can be safely ignored because the error becomes inactive immediately.
• Native ROS 2: Native ROS 2 provides the ROS standard message type MultiEchoLaserScan. For this message type, scan profiles 1, 2, 4, and 11 are recommended.

Firmware V2.3.1

Field	Value
Compatible with	picoScan120 and picoScan150
Release date	cw 22/2026
Effective from	S/N 2625xxxx

New features.

Data output format LMDscandata configurable.

The graphical user interface allows users to configure the content of the LMDscandata output format, for example disabling RSSI values to reduce network bandwidth.

Data output format Compact configurable.

The graphical user interface allows users to configure the content of the Compact output format, for example disabling RSSI values to reduce network bandwidth.

3D point cloud capture and data export.

For demonstration purposes, it is possible to swivel or move the scanner in a linear direction to capture a 3D point cloud of the surrounding environment using the encoder input or the integrated IMU of the picoScan150. The captured 3D point cloud is visualized in the Scan View GUI and can be exported as a .pcd file.

Support for PoE system plug.

This firmware version is required to operate the picoScan150 in combination with the newly developed PoE system plug variant.

Support for new frontend.

With this firmware version, picoScan150 and picoScan120 are prepared for compatibility with a new laser frontend as hardware change. The hardware change is planned for implementation in production at a later point in time. The new firmware is mandatory for operating devices equipped with the new hardware. Firmware versions earlier than V2.3.1 are not compatible with the new hardware. Firmware V2.3.1 or later is required to operate devices with the new hardware.

WebSocket events.

Added WebSocket-based event subscription support, enabling real-time push notifications over a persistent /apievents connection. A single WebSocket link handles multiple event registrations, e.g. contamination, device status, field evaluation, temperature and other events.

UDP multicast for IMU and encoder data.

Added support for UDP multicast for both IMU and encoder data streams. The UDP destination address can now be configured as a multicast address.

CoLa A/B port configurable.

The CoLa A and CoLa B communication ports, default 2111 and 2112, can now be configured individually. This is useful for compatibility with other SICK LiDAR devices that support the LMDscandata output format.

Support of Virtual Sensor Lab.

The Virtual Sensor Lab enables users to explore the graphical user interface without requiring a physical device. It also allows the creation of offline configuration files (.json) which can be exported and later imported into another device. Configuration files from physical devices can be loaded and viewed in the Virtual Sensor Lab. The web-based tool can set the system plug type, 5-pin or 12-pin. Import and export of .sopas files is not supported.

Cybersecurity improvements.

System plug variants can clone network parameters, and this firmware allows network parameter cloning to be disabled. The GUI Cyber Security page displays the encoder setup and can enable or disable encoder data streaming. Internal device dependencies were updated to address security vulnerabilities and align with cyber secure software development.

Improvements and fixes.

The Optimized for Robustness sensitivity mode improves measurement performance on retro-reflector targets and mitigates blooming effects. This release fixes reflector tagging at distances between 20 m and 30 m, implausible encoder values caused by incorrect interpolation, and contamination-indication sector selection after a reboot. Persistent environment teach-in is retained after a reboot and after downloading a parameter file. It also fixes the interchanged Native ROS 2 parameter descriptions for child frame and parent frame, and Native ROS 2 now works reliably with DHCP IP address servers.

API changes and publications.

For a complete reference, consult the OpenAPI description in the product download section on sick.com.

Session-token-based authentication now secures parameter-file upload, download, and import. A short-lived X-Session-Token, obtained at service level, creates, downloads, re-uploads, and restores a JSON parameter file. New full-screen URLs are http://<ip>/#/?fullscreen= and http://<ip>/#/?fullscreen_mode=. http://<ip>/#/?scanview_fullscreen= has been disabled.

The OpenAPI files are available for picoScan120 and picoScan150.

Introduced telegrams / REST endpoints.

Description	CoLa A/B	REST
Returns the type of the sending unit	sRN laserType	GET /api/laserType
Returns the type of the receiving unit	sRN sipmType	GET /api/sipmType
Returns/sets whether blocked sectors are treated as blocked or contaminated sectors	sRN/sWN treatBlockedSectorsAsErrorSectors	GET/POST /api/treatBlockedSectorsAsErrorSectors
Enables/disables system plug cloning	sRN/sWN enableCloningPlug	GET/POST /api/enableCloningPlug
Returns/sets Compact telegram type 1 content	sRN/sWN compactTelegramType1Content	GET/POST /api/compactTelegramType1Content
Returns/sets LMDscandata configuration	sRN/sWN LMDscandatacfg	GET/POST /api/ScanDataConfig
Returns/sets LMDscandata CoLa ASCII TCP port settings	sRN/sWN EIAuxPort	GET/POST /api/EtherAuxIPPort
Returns/sets LMDscandata CoLa Binary TCP port settings	sRN/sWN EIHstPort	GET/POST /api/EtherHostIPPort
Returns/sets session timeout for LMDscandata output	sRN/sWN EtherSessionTimeout	GET/POST /api/EtherSessionTimeout
Returns/sets ROS domain ID	sRN/sWN rosDomainId	GET/POST /api/rosDomainId
Enables/disables 3D scan recorder	sRN/sWN ScanMergerEnabled	GET/POST /api/ScanMergerEnabled
Returns/sets data source for scan merging	sRN/sWN ScanMergerSource	GET/POST /api/ScanMergerSource
Returns/sets encoder transformation type	sRN/sWN EncoderTransformationType	GET/POST /api/EncoderTransformationType
Returns/sets encoder rotation center in mm	sRN/sWN EncoderRotation	GET/POST /api/EncoderRotation
Returns/sets encoder translation in mm	sRN/sWN EncoderTranslation	GET/POST /api/EncoderTranslation
Returns/sets rotation center offset	sRN/sWN RotationOffset	GET/POST /api/RotationOffset
Returns/sets scan merge trigger	sRN/sWN ScanMergeTrigger	GET/POST /api/ScanMergeTrigger
Starts 3D scan recording	sMN StartScanMerge	POST /api/StartScanMerge
Stops 3D scan recording	sMN StopScanMerge	POST /api/StopScanMerge
Deletes currently displayed point clouds	sMN ResetScanMergeView	POST /api/ResetScanMergeView
Returns saving status for merged scans	sRN MergeSaving	GET /api/MergeSaving

As soon as a scan merge is completed, the point cloud is available for download at http://<ip>/cloud.pcd.

Known issues.

• Contamination indication segments show clean when measurement is stopped or the device is in stand-by mode.
• A file error can occur during system diagnosis under high load when Particle filter, Moving average filter, and Streaming are active; deactivate those filters before running the diagnosis.
• Device availability may very rarely be delayed but becomes fully operational within 20 seconds.
• The occasional parameterization message Too many functions are active at the same time. Deactivate functions that are not required. can be ignored when it becomes inactive immediately.
• Native ROS 2 provides MultiEchoLaserScan, for which scan profiles 1, 2, 4, and 11 are recommended.

Firmware V2.2.1

Field	Value
Compatible with	picoScan120 and picoScan150
Release date	cw 11/2026
Effective from	S/N 2612xxxx for picoScan150; S/N 2613xxxx for picoScan120

Improvements and fixes.

This release includes minor GUI improvements and bug fixes.

Known issues.

• Contamination indication segments show clean when measurement is stopped or the device is in stand-by mode.
• A file error can occur during system diagnosis under high load when Particle filter, Moving average filter, and Streaming are active; deactivate those filters before running the diagnosis.
• Device availability may very rarely be delayed but becomes fully operational within 20 seconds.
• The occasional parameterization message Too many functions are active at the same time. Deactivate functions that are not required. can be ignored when it becomes inactive immediately.
• Native ROS 2 does not provide measurement data after DHCP fallback, so ensure that the DHCP server is available after boot.
• The Native ROS 2 GUI parameter descriptions for child frame and parent frame are interchanged.

Firmware V2.2.0

Field	Value
Compatible with	picoScan120 and picoScan150
Release date	cw 03/2026
Effective from	Internal release, not used in production

New features.

Encoder input support.

The device has a digital encoder input for recording incremental encoder signals. Configuration can be done via the user interface or telegram using the communication interface. The encoder input supports single-channel encoders (A) and dual-channel encoders (A/B) for direction determination. Recorded pulses are provided with a high-resolution timestamp using NTP / PTP and output either as a separate UDP stream or as part of LMDscandata. External reference signals can also be fed in, for example encoder Z signal or limit switch signals.

Planned for a future firmware version: Encoder Telegram version 2 with payloadLength including senderID.

Download and import of parameter files via SOPASair.

The parameter set can be manually saved as a project file (*.json) on the computer via Download / Import configuration file. This is the generally recommended procedure. The project file can be transferred to another product and optionally password-protected. SOPAS ET is obsolete for transferring project files.

Temperature alarm via digital output.

The device can set a temperature alarm via digital output. The internal temperature is continuously monitored. If the set temperature is exceeded, a digital output is switched. Threshold settings can be applied via the communication interface.

Checksum for device validation.

The sensor can compute a checksum to verify critical device information, including device type, system plug, parameter setting, point of time of last save, calibration data, operating system and active licenses.

Full screen mode button.

The three-dot menu includes a full screen mode. When activated, it hides the main menu control bar. Press ESC to exit full screen.

Improvements and fixes.

The GUI now implements native ROS 2 communication via DDS and lets users select the Native ROS 2 data format. The motor controller has been improved during startup, and the issue preventing the angle range filter from being disabled for LMDscandata has been fixed.

Cybersecurity improvements.

Signed firmware update support.

This firmware forms the basis for signed firmware updates. Future firmware packages in .spk.signed format will be validated by the sensor before installation to help ensure that only authentic and tamper-proof software is installed.

Behavioral changes.

The release adds an undo function for the last parameter change, minor visual improvements, and the Evaluation for blocked sectors setting for contamination indication. SOPAS ET now displays a generic start page with a browser link. An IMU data plausibility check logs an error when data is missing or frozen. Reset and maintain communication interfaces no longer deletes HTTPS certificates.

API changes and publications.

The OpenAPI files are available for picoScan120 and picoScan150.

Description	CoLa A/B	REST
Create configuration file on device	-	POST /api/CreateParameterBackup
Download/import configuration file from/to device	-	POST /api/parameterbackup
Restore configuration file on device	-	POST /api/RestoreParameterBackup
Returns checksum over software and configurations	sRN LFTchecksum	GET /api/LFTchecksum
Returns/sets temperature alarm thresholds	sRN/sWN temperatureAlarmConfiguration	GET/POST /api/temperatureAlarmConfiguration
Returns current temperature alarm status	sRN temperatureAlarmStatus	GET /api/temperatureAlarmStatus
Returns/sets ROS frame ID	sRN/sWN rosFrameId	GET/POST /api/rosFrameId
Returns/sets ROS parent frame ID	sRN/sWN rosParentFrameId	GET/POST /api/rosParentFrameId
Returns/sets ROS namespace	sRN/sWN rosNamespace	GET/POST /api/rosNamespace
Returns/sets mounting position in 1/10000 deg	sRN/sWN SensorPosition	GET/POST /api/SensorPosition
Returns/sets encoder mode	sRN/sWN LICencset	GET/POST /api/EncSetting
Returns/sets encoder resolution	sRN/sWN LICencres	GET/POST /api/EncResolution
Enables/disables 1st reference signal	sRN/sWN LICpos1enable	GET/POST /api/ActualEncPosition1Enable
Enables/disables 2nd reference signal	sRN/sWN LICpos2enable	GET/POST /api/ActualEncPosition2Enable
Resets encoder tick value	sMN LIDrstencoderinc	POST /api/mResetEncoderIncrement
Returns/sets encoder UDP destination settings	sRN/sWN EncoderDataEthSettings	GET/POST /api/EncoderDataEthSettings
Enables/disables encoder data streaming	sRN/sWN EncoderDataEnable	GET/POST /api/EncoderDataEnable
Returns evaluation group type	sRN EvaluationGroupType	GET /api/EvaluationGroupType

Known issues.

• Contamination indication segments show clean when measurement is stopped or the device is in stand-by mode.
• A file error can occur during system diagnosis under high load with Particle filter, Moving average filter, and Streaming active.
• Device availability may very rarely be delayed but becomes fully operational within 20 seconds.
• The occasional parameterization message can be safely ignored when it becomes inactive immediately.
• Native ROS 2 does not provide measurement data after DHCP fallback, so the DHCP server must be available after boot.
• The Native ROS 2 GUI parameter descriptions for child frame and parent frame are interchanged.

Firmware V2.1.0

Field	Value
Compatible with	picoScan120 and picoScan150
Release date	cw 16/2025
Effective from	S/N 2517xxxx for picoScan120 and picoScan150

New features.

Perpendicular distance evaluation.

Perpendicular Distance evaluation is part of the 2D Object Detection Advanced license package. It allows fields to be drawn and evaluates the minimum and maximum perpendicular distance between objects entering the field and a reference line.

A new device can be configured through the sales configurator with the 2D Object Detection Advanced package. On an existing device, activate license 1146093 PICOSCAN PERPENDICULAR DISTANCE through License Manager.

Reflector detection improvements.

The reflector-detection algorithm has been improved, particularly for false positives in ambient light. Devices produced after >SN 2422xxxx, which were more sensitive to false-positive reflector detection, benefit from this improvement. LMDscandata provides reflector information using RSSI value 254, and a reflector-detection filter handles double echoes from reflector targets. On picoScan120, the optimized for reflector mode improves measurement performance on reflector targets but can overlook very small, transparent, or mirroring objects.

HTTPS.

picoScan100 supports HTTPS, enabling secure and encrypted communication.

Firmware update via SOPASair.

SOPASair now offers firmware update capability. SOPAS ET is no longer needed for a firmware update for supported versions.

Full screen scan view URL.

For full-screen visualization of measurement data or 2D Object Detection:

<IP>/#/?scanview_fullscreen=

Example:

http://192.168.0.1/#/?scanview_fullscreen=

Measurement data recording.

Measurement and IMU data can be recorded and played back when used with additional recorder software.

Use the Recorder software.

Improvements and fixes.

This release improves the 2D Object Detection history-table visualization, .sopas file import across former firmware versions, and error and warning handling. It fixes inconsistent configurations after evaluations are deleted, renamed, or recreated with the same names; output-counter behavior; the LMDscandata scan-range filter's first-beam distance value of 0; and persistence of the Start/Stop by Input Signal Teach-In setting. The GUI measurement tool can measure distance to the device center, while SOPASair adds show/hide controls for reflector and non-reflector scan points. The contamination-indication element has been reworked with UX improvements and bug fixes. LMDscandata includes I/O states, and the diagnostics overview shows message category, message number, and whether warnings are active. The CoLa A/B user levels Maintenance and Authorized Client are disabled by default.

Behavioral changes.

When more than 20 fields are active, 2D Object Detection stops working and the device status changes to device not ready. Devices shipped with firmware V2.1.0 use Static IP instead of Repeat DHCP as the DHCP fallback default; this does not apply to devices updated in the field from V1.5.0 or lower.

API changes and publications.

The OpenAPI files are available for picoScan120 and picoScan150.

Selected changes include perpendicularDistanceResult, which returns the perpendicular-distance feature's minimum distance, maximum distance, and timestamp, and EtherCoLaScanMode, which replaces EnableColaScan with the Enabled, Time-Limited, Restricted, and Disabled modes. Send EthernetUpdate after updating IP configuration to trigger reconfiguration. changePassword sets the REST interface password, SetPassword sets the CoLa A/B interface password, EnableUserLevel activates or deactivates the REST user level, and EnableLegacyUserLevel activates or deactivates the CoLa A/B user level. EnableDetectionHistory returns or sets detection history, EvaluationsToLog returns or sets the evaluations that are logged, and ResetDetectionHistory resets detection-history logs. httpsStatus returns HTTPS interface status, certificateBundleInfo returns information about the uploaded certificate bundle, setCertificateBundleInfo uploads a certificate bundle in PEM format through JSON, and removeCertificateBundleInfo removes the uploaded certificate bundle.

Known issues.

• Contamination indication segments show clean when measurement is stopped or the device is in stand-by mode.
• A file error can occur during system diagnosis under high load, and an error-log message can occur during a factory reset; both can be ignored as applicable.
• Device availability may very rarely be delayed but becomes fully operational within 20 seconds.
• There is a minimal chance of a fatal error after a firmware update; if it occurs, repeat the update. The update was successful if the device operates stably with a green LED for more than 10 minutes.
• The angle range filter cannot be disabled for LMDscandata; use start angle -138° and stop angle 138°, or perform a factory reset, to output the full field of view.
• In SOPAS ET, 2D object-detection parameters can influence one another, so SOPASair is strongly recommended for parameterization.
• An invalid measurement point can appear at 0° in GUI Application > Data output, but this does not affect Compact or LMDscandata output.
• Some SOPASair notifications during and after a factory reset, firmware update, or reboot can be ignored.

Firmware V2.0.0

Field	Value
Compatible with	picoScan120 only
Release date	CW 45/2024
Effective from	S/N 2442xxxx

Features.

This is the initial firmware for picoScan120 and provides headless firmware updates through REST.

Firmware update via REST uses:

PUT <ip>/api/update
POST <ip>/api/RunFirmwareUpdate
GET <ip>/api/UpdateState

Known issues.

• A file error can occur during system diagnosis under high load.
• CoLa A/B remains active after EtherAuxEnabled is set to false, so a power cycle is required.
• The output counter does not show the correct number and must not be used to count Device Not Ready signals.
• Queue overflows can occur when Ethernet settings change but do not affect picoScan120 use.
• SOPAS ET can show several error messages and is not recommended; use SOPASair instead.
• The angle range filter cannot be disabled for LMDscandata; use start angle -138° and stop angle 138°, or perform a factory reset.

Firmware V1.5.0

Field	Value
Compatible with	picoScan150 only
Release date	cw 45/2024
Effective from	S/N 2445xxxx

New features.

2D Object Detection Advanced feature update.

License activation is required.

New 2D Object Detection features include background teach-in, which teaches the current environment to monitor the free field of view, and Contour as reference, which monitors the presence of a reference contour. Configure a new device through the sales configurator with the 2D Object Detection Advanced package, or activate license 1146090 PICOSCAN TEACH-IN through License Manager on an existing device.

Improvements and fixes.

The field-evaluation live view now visualizes events, and statistics and event tables refresh automatically. Detection history is enabled by default. This release improves handling of configuration changes and the statistics overview, and optimizes motor-frequency tolerance for higher sensor availability. Output configuration can assign more than 20 evaluations to a single output, and scan segments are now visible in the GUI.

API changes and publications.

The OpenAPI files are available for picoScan120 and picoScan150.

The new telegrams are REST `POST <ipadress