CoLa (Telegram Listing)

Compatible with: picoScan100

CoLa (Command Language) is SICK's interface for reading and changing sensor parameters. It is useful for existing SICK integrations and automation scripts; for new integrations, use the REST API / OpenAPI.

Binary telegram (CoLa B)

The binary telegram is a basic protocol of the scanner (CoLa B). All values are in hexadecimal code and grouped into pairs of two digits (= 1 byte). The string consists of four parts: header, data length, data and checksum (CS). It is highly recommended to use this protocol as the transmitted data amount is only about half as much as with CoLa A).

The header indicates with 4 × STX (02 02 02 02) the start of the telegram.

The data length defines the size of the data part (command part) by indicating the number of digit pairs in the third part. The size of the data length itself is 4 bytes, which means that the data part might have a maximum of 16⁸ = 4,294,967,295 digit pairs (bytes).

The data part comprises the actual command with letters and characters converted to Hex (according to the ASCII chart) and the parameters of either decimal numbers converted to Hex or fixed Hex values with a specific, intrinsic meaning (no conversion). There is always a space (20) between the command and the parameters, but not between the different parameter values.

The checksum finally serves to verify that the telegram has been transferred correctly. The length of the checksum is 1 byte, CRC8. It is calculated with XOR.

Example: Binary telegram

Component	Value
Header	02 02 02 02
Length	00 00 00 17
Data	73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4 72 47 44
CS	B3

This is an example telegram for setting the user level "Authorized Client":

• Header = 02 02 02 02
• Length = 23 bytes (17h)
• Data:
• 73 4D 4E 20 = sMN = start of Sopas command (and space)
• 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 = Set Access Mode = the actual command for setting the user level (and space)
• 03 = fixed Hex value meaning user level "Authorized Client"
• F4 72 47 44 = fixed Hex value, serving as password for the selected user level "Authorized Client"
• Checksum = B3 from XOR calculation

ASCII telegram (CoLa A)

The ASCII telegram is an alternative to the binary telegram, suitable especially to parametrize the sensor. However, due to the variable string length of ASCII telegrams, the Binary telegram is still recommended when using scanners with a PLC.

The ASCII telegram has the advantage that commands can be written in plaintext. The string consists only of two parts: the framing and the data part.

The framing indicates with <STX> and <ETX> the start and stop of each telegram.

The data part comprises the actual command with letters and characters (plaintext), parameter values either in decimal (special indicator required) or in hexadecimal (example: a frequency of 25 Hz = +2500 (decimal) = 09C4 (Hex)) and fixed hexadecimal values with a specific, intrinsic meaning.

In ASCII, leading zeros are deleted. Therefore a space is always required between all command parts and parameter parts.

As further alternative within CoLa A, depending on the preferences of the user, all values can be written directly in Hex. This means however a 1:1 conversion of all letters and characters including numbers and fixed hexadecimal values via the ASCII chart.

The device always confirms parameter values in hexadecimal code, regardless of the code sent.

Example: ASCII telegram

Format	Start	Data	Stop
ASCII	<STX>	sMN{SPC}SetAccessMode{SPC}03{SPC}F4724744	<ETX>
Hex	02	73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 30 33 20 46 34 37 32 34 37 34 34	03

This is again an example telegram for setting the user level "Authorized Client". As only fixed hexadecimal parameter values are needed, the option to use parameter values in decimal code with special indicator cannot be applied here:

• Framing = <STX> = telegram start = 02 (Hex)
• Data:
• sMN = start of Sopas command (and blank) = 73 4D 4E 20 (Hex)
• SetAccessMode = the actual command for setting the user level (and blank) = 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 (Hex)
• 03 = fixed Hex value meaning user level "Authorized Client" (and blank) = 30 33 20 (Hex)
• F4 72 47 44 = fixed Hex value, serving as password for the selected user level "Authorized Client" = 46 34 37 32 34 37 4 34 (Hex)
• Framing = <ETX> = telegram stop = 03 (Hex)

Command basics

SOPAS communication is index-based communication and can be identified with telegram beginning of: sRI, sWI, sMI, sAI, sEI, sSI. Since the parallel usage of one port might be confusing, the usage of separate ports is advised.

Every response telegram starts with a separate framed string:

<STX>sSI 2 1<ETX><STX>"Answer"<ETX>

Description	Value ASCII	Value Hex	Value Binary
Start of text	<STX>	02	02 02 02 02 + given length
End of text	<ETX>	03	Calculated checksum
Read	sRN	73 52 4E
Write	sWN	73 57 4E
Method	sMN	73 4D 4E
Event	sEN	73 45 4E
Answer	sRA sWA sAN sEA sSN	73 52 41 73 57 41 73 41 4E 73 45 41 73 53 4E
Space	{SPC}	20	20

If values are divided into two parts (e.g. measurement data), they are documented according to LSB 0 (e.g. 00 07), output however is according to MSB (e.g. 07 00).

Every write command (sWN) has a read (sRN) counter part even if it may not be described in the Telegram Listing. You can verify the current parameters this way, e.g. read the current IP address via sRN EIIpAddr (see Telegram Listing below).

Variable types

Variable type	Length (byte)	Value range	Sign
Bool_1	1	0 or 1	No
Uint_8	1	0 … 255	No
Int_8	1	-128 … +127	Yes
Uint_16	2	0 … 65,535	No
Int_16	2	-32,768 … +32,767	Yes
Uint_32	4	0 … 4,294,967,295	No
Int_32	4	-2,147,483,648 … +2,147,483,647	Yes
ULInt_64	8	0 ... 18446744073709551616	No
Enum_8	1	Certain values defined in a list of Choices (0 … 255)	No
Enum_16	2	Certain values defined in a list of Choices (0 … 65535)	No
String	Context-dependent	Strings are not terminated in zeroes
FlexString	array of visible characters with preceding current length (UInt length) (array of 8 bit)	See description of String and FlexArray
Real	4	Float according to IEEE754 (see www.h-schmidt.net/FloatConverter/IEEE754de.html)	Yes

Data length is always given in Bytes!

Type	Description
Struct	A structure is a sequence of further types. These types can be of a BasicType, Structs again or an Array.
Array	An Array is a repetition of a type. The length of the array is defined with each Array. The types can be of a BasicType, a Struct or an Array again (n-dimensional).
Flex Array	A FlexArray is a repetition of a type with a variable length. The maximum length of the array is defined with each FlexArray. The current length of the FlexArray is transferred as a UInt preceding the Array itself. The types can be of a BasicType, a Struct or an Array again (n-dimensional).

picoScan100 Telegram Listing

Log in [sMN SetAccessMode]

A log in to the device is necessary to change parameters. In most cases, the user level 'Authorized client' is needed. Changed parameters will be reset to the previous state via a reboot unless the are saved. To save parameter changes the command "sMN mEEwriteall" () must be send before log 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:	B21ACE26 F4724744 81BE23AA	B2 1A CE 26 F4 72 47 44 81 BE 23 AA

Example: sMN SetAccessMode - Log in as “Authorized client” with password “F4724744”

Protocol	Example
CoLa A	<STX>sMN{SPC}SetAccessMode{SPC}3{SPC}F4724744<ETX>
CoLa A	<STX>sMN SetAccessMode 3 F4724744<ETX>
CoLa A	sMN SetAccessMode 3 F4724744
CoLa A	02 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 30 33 20 46 34 37 32 34 37 34 34 03
CoLa B	02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4 72 47 44 B3
CoLa B	73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4 72 47 44

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

Protocol	Example
CoLa A	<STX>sAN{SPC}SetAccessMode{SPC}1<ETX>
CoLa A	02 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 31 03
CoLa B	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

Enable/ disable CoLa user levels [sMN EnableLegacyUserLevel]

This command enables and disables a specific CoLa user level (Maintenance, Authorized Client).

Telegram structure: sMN EnableLegacyUserLevel

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	Enable/ disable CoLa user level	String	21		EnableLegacyUserLevel	45 6E 61 62 6C 65 4C 65 67 61 63 79 55 73 65 72 4C 65 76 65 6C
User level	-	Uint_8	1	Maintenance: Authorized Client:	2 3	02 03
Status	Enable/ disable	Bool_1	1	Disable: Enable:	0 1	00 01

Example: sMN EnableLegacyUserLevel - Enable User Level Authorized Client

Protocol	Example
CoLa A	<STX>sMN{SPC}EnableLegacyUserLevel{SPC}3{SPC}1<ETX>
CoLa A	<STX>sMN EnableLegacyUserLevel 3 1<ETX>
CoLa A	sMN EnableLegacyUserLevel 3 1
CoLa A	02 73 4D 4E 20 45 6E 61 62 6C 65 4C 65 67 61 63 79 55 73 65 72 4C 65 76 65 6C 20 33 20 31 03
CoLa B	02 02 02 02 00 00 00 1D 73 4D 4E 20 45 6E 61 62 6C 65 4C 65 67 61 63 79 55 73 65 72 4C 65 76 65 6C 20 03 20 01 21
CoLa B	73 4D 4E 20 45 6E 61 62 6C 65 4C 65 67 61 63 79 55 73 65 72 4C 65 76 65 6C 20 03 20 01

Telegram structure: sAN EnableLegacyUserLevel

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	Enable/ disable CoLa user level	String	21		EnableLegacyUserLevel	45 6E 61 62 6C 65 4C 65 67 61 63 79 55 73 65 72 4C 65 76 65 6C
Status code	Confirmation	Bool_1	1	unsuccessful: successful:	0 1	00 01

Example: sAN EnableLegacyUserLevel - Enabling/ disabling of the CoLa User Level was successful

Protocol	Example
CoLa A	<STX>sAN{SPC}EnableLegacyUserLevel{SPC}1<ETX>
CoLa A	02 73 41 4E 20 45 6E 61 62 6C 65 4C 65 67 61 63 79 55 73 65 72 4C 65 76 65 6C 20 31 03
CoLa B	02 02 02 02 00 00 00 1B 73 41 4E 20 45 6E 61 62 6C 65 4C 65 67 61 63 79 55 73 65 72 4C 65 76 65 6C 20 01 0E

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

Protocol	Example
CoLa A	<STX>sRN{SPC}LMPscancfg<ETX>
CoLa A	<STX>sRN LMPscancfg<ETX>
CoLa A	sRN LMPscancfg
CoLa A	02 73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67 03
CoLa B	02 02 02 02 00 00 00 0E 73 52 4E 20 4C 4D 50 73 63 61 6E 63 66 67 63
CoLa B	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	15 Hz ... 50 Hz: (depends on Dynamic Sensing Profile )	5DCh ... 1388h	05 DC ... 13 88
Reserved	-	Int_16	2	Always:	1	00 01
Angular resolution	[1/10000°]	Uint_32	4	0.1° ... 1°: (depends on Dynamic Sensing Profile )	3E8h … 2710h	03 E8 ... 27 10
Start angle	[1/10000°]	Int_32	4	-48° ... 228°	FFF8AD00h … 22CA40h	FF F8 AD 00h … 00 22 CA 40h
Stop angle	[1/10000°]	Int_32	4	-48° ... 228°	FFF8AD00h … 22CA40h	FF F8 AD 00h … 00 22 CA 40h

Example: sRA LMPscancfg - 30 Hz scan frequency, 0.1° angular resolution, -48° start angle, +138° stop angle

Protocol	Example
CoLa A	<STX>sRA{SPC}LMPscancfg{SPC}BB8{SPC}1{SPC}3E8{SPC}FFEAF160{SPC}150EA0<ETX>
CoLa A	02 73 52 41 20 4C 4D 50 73 63 61 6E 63 66 67 20 42 42 38 20 31 20 33 45 38 20 46 46 45 41 46 31 36 30 20 31 35 30 45 41 30 03
CoLa B	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 0B B8 00 01 00 00 03 E8 FF EA F1 60 00 15 0E A0 2A

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

Protocol	Example
CoLa A	<STX>sMN{SPC}LMCstandby<ETX>
CoLa A	<STX>sMN LMCstandby<ETX>
CoLa A	sMN LMCstandby
CoLa A	02 73 4D 4E 20 4C 4D 43 73 74 61 6E 64 62 79 03
CoLa B	02 02 02 02 00 00 00 0E 73 4D 4E 20 4C 4D 43 73 74 61 6E 64 62 79 65
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}LMCstandby{SPC}0<ETX>
CoLa A	02 73 41 4E 20 4C 4D 43 73 74 61 6E 64 62 79 20 30 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sMN{SPC}LMCstartmeas<ETX>
CoLa A	<STX>sMN LMCstartmeas<ETX>
CoLa A	sMN LMCstartmeas
CoLa A	02 73 4D 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}LMCstartmeas{SPC}0<ETX>
CoLa A	02 73 41 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 20 30 03
CoLa B	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

Stop measurement [sMN LMCstopmeas]

Shut off the laser and the motor is running at the set up frequency.

Telegram structure: sMN LMCstopmeas

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	Stop measurement	String	11		LMCstopmeas	4C 4D 43 73 74 6F 70 6D 65 61 73

Example: sMN LMCstopmeas

Protocol	Example
CoLa A	<STX>sMN{SPC}LMCstopmeas<ETX>
CoLa A	<STX>sMN LMCstopmeas<ETX>
CoLa A	sMN LMCstopmeas
CoLa A	02 73 4D 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 03
CoLa B	02 02 02 02 00 00 00 0F 73 4D 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 10
CoLa B	73 4D 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73

Telegram structure: sAN LMCstopmeas

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	Stop measurement	String	11		LMCstopmeas	4C 4D 43 73 74 6F 70 6D 65 61 73
Status code	Accepted when value is 0	Enum_8	1	No error: Not allowed:	0 1	00 01

Example: sAN LMCstopmeas

Protocol	Example
CoLa A	<STX>sAN{SPC}LMCstopmeas{SPC}0<ETX>
CoLa A	02 73 41 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 20 30 03
CoLa B	02 02 02 02 00 00 00 11 73 41 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 20 00 3C

Autostart measurement [sWN LMPautostartmeas]

This parameter defines whether the scanner will start to rotate directly and measure when powering up or remain in idle mode. The changed setting (saved with the command sMN mEEWriteall, ) will be then be active with the next power-up cycle.

In case autostart is deactivated, the sensor will remain in idle mode with the laser switched off and a motor speed depending on the Dynamic Sensing Profile .

Telegram structure: sWN LMPautostartmeas

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	Autostart measurement	String	16		LMPautostartmeas	4C 4D 50 61 75 74 6F 73 74 61 72 74 6D 65 61 73
Status code	Activate / Deactivate Autostart	Bool_1	1	Autostart off: Autostart on:	0 1	00 01

Example: sWN LMPautostartmeas 1

Protocol	Example
CoLa A	<STX>sWN{SPC}LMPautostartmeas{SPC}1<ETX>
CoLa A	<STX>sWN LMPautostartmeas 1<ETX>
CoLa A	sWN LMPautostartmeas 1
CoLa A	02 73 57 4E 20 4C 4D 50 61 75 74 6F 73 74 61 72 74 6D 65 61 73 20 31 03
CoLa B	02 02 02 02 00 00 00 16 73 57 4E 20 4C 4D 50 61 75 74 6F 73 74 61 72 74 6D 65 61 73 20 01 4F
CoLa B	73 57 4E 20 4C 4D 50 61 75 74 6F 73 74 61 72 74 6D 65 61 73 20 01

Telegram structure: sWA LMDautostartmeas

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	Autostart measurement	String	16		LMPautostartmeas	4C 4D 50 61 75 74 6F 73 74 61 72 74 6D 65 61 73

Example: sWA LMPautostartmeas

Protocol	Example
CoLa A	<STX>sWA{SPC}LMPautostartmeas<ETX>
CoLa A	02 73 57 41 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 03
CoLa B	02 02 02 02 00 00 00 15 73 57 41 20 4C 4D 50 61 75 74 6F 73 74 61 72 74 6D 65 61 73 20 41

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

Protocol	Example
CoLa A	<STX>sMN{SPC}mSCloadfacdef<ETX>
CoLa A	<STX>sMN mSCloadfacdef<ETX>
CoLa A	sMN mSCloadfacdef
CoLa A	02 73 4D 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 03
CoLa B	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
CoLa B	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

Example: sAN mSCloadfacdef

Protocol	Example
CoLa A	<STX>sAN{SPC}mSCloadfacdef<ETX>
CoLa A	02 73 4D 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 03
CoLa B	02 02 02 02 00 00 00 12 73 41 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 20 04

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

Protocol	Example
CoLa A	<STX>sMN{SPC}mSCloadappdef<ETX>
CoLa A	<STX>sMN mSCloadappdef<ETX>
CoLa A	sMN mSCloadappdef
CoLa A	02 73 4D 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}mSCloadappdef<ETX>
CoLa A	02 73 41 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03
CoLa B	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

Read checksum [sRN LFTchecksum]

This command includes the MD5 checksum of multiple software parts to verify their integrity. The checksums help to ensure files have not been corrupted or altered. They are also important for cybersecurity because they detect unauthorized modifications.

Telegram structure: sRN LFTchecksum

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	MD5 checksum	String	11		LFTchecksum	4C 46 54 63 68 65 63 6B 73 75 6D

Example: sRN LFTchecksum

Protocol	Example
CoLa A	<STX>sRN{SPC}LFTchecksum<ETX>
CoLa A	<STX>sRN LFTchecksum<ETX>
CoLa A	sRN LFTchecksum
CoLa A	02 73 52 4E 20 4C 46 54 63 68 65 63 6B 73 75 6D 03
CoLa B	02 02 02 02 00 00 00 1F 73 52 4E 20 4C 46 54 63 68 65 63 6B 73 75 6D 1C
CoLa B	73 52 4E 20 4C 46 54 63 68 65 63 6B 73 75 6D

Telegram structure: sRA LFTchecksum

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	MD5 checksum	String	11		LFTchecksum	4C 46 54 63 68 65 63 6B 73 75 6D
Variable Data 1	Checksum validity	Bool_1	1	False: True:	0 1	00 01
Variable Data 2	Length	Uint_16	2		20	32 20
Variable Data 2	Checksum Linux part	FlexString			<hash>	<hash>
Variable Data 3	Length	Uint_16	2		20	32 20
Variable Data 3	Checksum app part	FlexString			<hash>	<hash>
Variable Data 4	Length	Uint_16	2		20	32 20
Variable Data 4	Checksum calibration part	FlexString			<hash>	<hash>
Variable Data 5	Length	Uint_16	2		20	32 20
Variable Data 5	Checksum parameters part	FlexString			<hash>	<hash>

Example: sRA LFTchecksum

Protocol	Example
CoLa A	<STX>sRA{SPC}LFTchecksum{SPC}20{SPC}92b7b9720c40e8b99268229283617dd5{SPC}20{SPC}e002a1c8022b30589ce0e357c87f5a1c{SPC}20{SPC}901736df3fbc807121c46f9eaed8ff28{SPC}20{SPC}588e8386c7cd011d1a8369c4377e2a4c<ETX>
CoLa A	02 73 52 41 20 4C 46 54 63 68 65 63 6B 73 75 6D 20 31 20 32 30 20 39 32 62 37 62 39 37 32 30 63 34 30 65 38 62 39 39 32 36 38 32 32 39 32 38 33 36 31 37 64 64 35 20 32 30 20 65 30 30 32 61 31 63 38 30 32 32 62 33 30 35 38 39 63 65 30 65 33 35 37 63 38 37 66 35 61 31 63 20 32 30 20 39 30 31 37 33 36 64 66 33 66 62 63 38 30 37 31 32 31 63 34 36 66 39 65 61 65 64 38 66 66 32 38 20 32 30 20 35 38 38 65 38 33 38 36 63 37 63 64 30 31 31 64 31 61 38 33 36 39 63 34 33 37 37 65 32 61 34 63 03
CoLa B	02 02 02 02 00 00 00 99 73 57 41 20 4C 46 54 63 68 65 63 6B 73 75 6D 20 01 00 20 39 32 62 37 62 39 37 32 30 63 34 30 65 38 62 39 39 32 36 38 32 32 39 32 38 33 36 31 37 64 64 35 00 20 65 30 30 32 61 31 63 38 30 32 32 62 33 30 35 38 39 63 65 30 65 33 35 37 63 38 37 66 35 61 31 63 00 20 39 30 31 37 33 36 64 66 33 66 62 63 38 30 37 31 32 31 63 34 36 66 39 65 61 65 64 38 66 66 32 38 00 20 35 38 38 65 38 33 38 36 63 37 63 64 30 31 31 64 31 61 38 33 36 39 63 34 33 37 37 65 32 61 34 63 6F

Change password [sMN SetPassword]

Changing the log in password for a specific user level.

If logged in with a higher user level you may set the password for lower user levels as well.

Telegram structure: sMN SetPassword

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 password request	String	13		SetPassword	53 65 74 50 61 73 73 77 6F 72 64
User level	User level that the password will be applied to	Int_8	1	Maintenance: Authorized client: Service:	2 3 4	02 03 04
Password	Hash value of the new password	Uint_32	4		<Hash value>

Set password for 'Authorized client' to “testtest” (hash value = 1920E4C9).

Example: sMN SetPassword

Protocol	Example
CoLa A	<STX>sMN{SPC}SetPassword{SPC}3{SPC}1920E4C9<ETX>
CoLa A	<STX>sMN SetPassword 3 1920E4C9<ETX>
CoLa A	sMN SetPassword 3 1920E4C9
CoLa A	02 73 4D 4E 20 53 65 74 50 61 73 73 77 6F 72 64 20 33 20 31 39 32 30 45 34 43 39 03
CoLa B	02 02 02 02 00 00 00 15 73 4D 4E 20 53 65 74 50 61 73 73 77 6F 72 64 20 03 19 20 E4 C9 1A
CoLa B	73 4D 4E 20 53 65 74 50 61 73 73 77 6F 72 64 20 03 19 20 E4 C9

Calculating the hash value of the password

Telegram structure: sAN SetPassword

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 password requested	String	13		SetPassword	53 65 74 50 61 73 73 77 6F 72 64
Success	Confirmation	Int_8	1	Failed: Success:	0 1	00 01

Example: sAN SetPassword

Protocol	Example
CoLa A	<STX>sAN{SPC}SetPassword{SPC}1<ETX>
CoLa A	02 73 4D 4E 20 53 65 74 50 61 73 73 77 6F 72 64 20 31 03
CoLa B	02 02 02 02 00 00 00 11 73 41 4E 20 53 65 74 50 61 73 73 77 6F 72 64 20 01 00

Check password [sMN CheckPassword]

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

Telegram structure: sMN CheckPassword

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

Check password “testtest” for 'Authorized client'.

Example: sMN CheckPassword

Protocol	Example
CoLa A	<STX>sMN{SPC}CheckPassword{SPC}3{SPC}1920E4C9<ETX>
CoLa A	<STX>sMN CheckPassword 3 1920E4C9<ETX>
CoLa A	sMN CheckPassword 3 1920E4C9
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}CheckPassword{SPC}1<ETX>
CoLa A	02 73 41 4E 20 43 68 65 63 6B 50 61 73 73 77 6F 72 64 20 31 03
CoLa B	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

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

Protocol	Example
CoLa A	<STX>sWN{SPC}SensitivityMode{SPC}1<ETX>
CoLa A	<STX>sWN SensitivityMode 1<ETX>
CoLa A	sWN SensitivityMode 1
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}SensitivityMode<ETX>
CoLa A	02 73 57 41 20 53 65 6E 73 69 74 69 76 69 74 79 4D 6F 64 65 03
CoLa B	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

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

Example: sWN ContaminationConfig One sector contaminated, response time 60 seconds, sensitivity low, weather protection hood, enable warning, enable error

Protocol	Example
CoLa A	<STX>sWN{SPC}ContaminationConfig{SPC}2{SPC}3C{SPC}2{SPC}6{SPC}7{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1<ETX>
CoLa A	<STX>sWN ContaminationConfig 2 3C 2 6 7 1 1 1 1 1 1 1 1 1<ETX>
CoLa A	sWN ContaminationConfig 2 3C 2 6 7 1 1 1 1 1 1 1 1 1
CoLa A	02 73 57 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 20 32 20 33 43 20 32 20 36 20 37 20 31 20 31 20 31 20 31 20 31 20 31 20 31 20 31 20 31 20 32 20 33 43 20 32 20 36 20 37 20 31 20 31 20 31 20 31 20 31 20 31 20 31 20 31 20 31 03
CoLa B	02 02 02 02 00 00 00 28 73 57 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 20 02 00 3C 02 00 06 07 01 01 01 01 01 01 01 01 01 3C
CoLa B	73 57 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 20 02 00 3C 02 00 06 07 01 01 01 01 01 01 01 01 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

Example: sWA ContaminationConfig

Protocol	Example
CoLa A	<STX>sWA{SPC}ContaminationConfig<ETX>
CoLa A	02 73 57 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 03
CoLa B	02 02 02 02 00 00 00 18 73 57 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 20

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

Example: sRN ContaminationConfig

Protocol	Example
CoLa A	<STX>sRN{SPC}ContaminationConfig<ETX>
CoLa A	<STX>sRN ContaminationConfig<ETX>
CoLa A	sRN ContaminationConfig
CoLa A	02 73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 03
CoLa B	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 43 6F 6E 66 69 67 25
CoLa B	73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 25

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

Protocol	Example
CoLa A	<STX>sRA{SPC}ContaminationConfig{SPC}0{SPC}3{SPC}0{SPC}0{SPC}7{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1{SPC}1<ETX>
CoLa A	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	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

Protocol	Example
CoLa A	<STX>sRN{SPC}ContaminationData<ETX>
CoLa A	<STX>sRN ContaminationData<ETX>
CoLa A	sRN ContaminationData
CoLa A	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	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
CoLa B	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

Example: sRA ContaminationData

Protocol	Example
CoLa A	<STX>sRA{SPC}ContaminationData{SPC}7{SPC}2{SPC}1{SPC}2{SPC}3{SPC}2{SPC}1{SPC}2<ETX>
CoLa A	02 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 20 37 20 32 20 31 20 32 20 33 20 32 20 31 20 32 03
CoLa B	02 02 02 02 00 00 00 1F 73 52 41 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 20 00 07 02 01 02 03 02 01 02 14

Send contamination indication data permanently [sEN ContaminationData]

Provides continuous contamination indication data for the individual sectors of the optical cover. When a change in contamination is detected in any sector, the current contamination status of all sectors will be transmitted

Telegram structure: sEN ContaminationData

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sEN	73 45 4E
Command	Get the contamination indication data continuously	String	17		ContaminationData	43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61
Data	Start/ Stop	Bool_1	1	Stop: Start:	0 1	00 01

Example: sEN ContaminationData

Protocol	Example
CoLa A	<STX>sEN{SPC}ContaminationData{SPC}1<ETX>
CoLa A	<STX>sEN ContaminationData 1<ETX>
CoLa A	sEN ContaminationData 1
CoLa A	02 73 45 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 20 31 03
CoLa B	02 02 02 02 00 00 00 17 73 45 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 20 01 09
CoLa B	73 45 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 20 01

Telegram structure: sSN ContaminationData

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	Get the contamination indication data continuously	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

Example: sSN ContaminationData

Protocol	Example
CoLa A	<STX>sSN{SPC}ContaminationData{SPC}7{SPC}0{SPC}0{SPC}0{SPC}2{SPC}2{SPC}1{SPC}1<ETX>
CoLa A	02 73 53 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 20 37 20 30 20 30 20 30 20 32 20 32 20 3120 31 03
CoLa B	02 02 02 02 00 00 00 1F 73 53 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 44 61 74 61 20 00 07 00 00 00 02 02 01 01 19

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

Protocol	Example
CoLa A	<STX>sRN{SPC}ContaminationResult<ETX>
CoLa A	<STX>sRN ContaminationResult<ETX>
CoLa A	sRN ContaminationResult
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sRA{SPC}ContaminationResult{SPC}0{SPC}0<ETX>
CoLa A	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	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

Protocol	Example
CoLa A	<STX>sEN{SPC}ContaminationResult{SPC}1<ETX>
CoLa A	<STX>sEN ContaminationResult 1<ETX>
CoLa A	sEN ContaminationResult 1
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sRA{SPC}ContaminationResult{SPC}1{SPC}0<ETX>
CoLa A	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	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

Set Treat Blocked Sectors As Error Sectors [sWN treatBlockedSectorsAsErrorSectors]

If enabled, blocked sectors get interpreted as error sectors for contamination strategy evaluation.

Telegram structure: sWN treatBlockedSectorsAsErrorSectors

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write request	String	3		sWN	73 57 4E
Variable name	treatBlockedSectorsAsErrorSectors	String	33		treatBlockedSectorsAsErrorSectors	74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73
Value	Enable/ disable Treat Blocked Sectors As Error Sectors	Bool_1	1	Disable: Enable:	0 1	00 01

Example: sWN treatBlockedSectorsAsErrorSectors

Protocol	Example
CoLa A	<STX>sWN{SPC}treatBlockedSectorsAsErrorSectors{SPC}1<ETX>
CoLa A	<STX>sWN treatBlockedSectorsAsErrorSectors 1<ETX>
CoLa A	sWN treatBlockedSectorsAsErrorSectors 1
CoLa A	02 73 57 4E 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 20 31 03
CoLa B	02 02 02 02 00 00 00 27 73 57 4E 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 20 01 3F
CoLa B	73 57 4E 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 20 01

Telegram structure: sWA treatBlockedSectorsAsErrorSectors

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write answer	String	3		sWA	73 57 41
Variable name	Echo of variable name	String	33		treatBlockedSectorsAsErrorSectors	74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73

Example: sWA treatBlockedSectorsAsErrorSectors

Protocol	Example
CoLa A	<STX>sWA{SPC}treatBlockedSectorsAsErrorSectors<ETX>
CoLa A	02 73 57 41 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 03
CoLa B	02 02 02 02 00 00 00 25 73 57 41 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 11

Read Treat Blocked Sectors As Error Sectors [sRN treatBlockedSectorsAsErrorSectors]

Returns the state if blocked sectors are treated as error sectors for contamination strategy evaluation.

Telegram structure: sRN treatBlockedSectorsAsErrorSectors

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read request	String	3		sRN	73 52 4E
Variable name	treatBlockedSectorsAsErrorSectors	String	33		treatBlockedSectorsAsErrorSectors	74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73

Example: sRN treatBlockedSectorsAsErrorSectors

Protocol	Example
CoLa A	<STX>sRN{SPC}treatBlockedSectorsAsErrorSectors<ETX>
CoLa A	<STX>sRN treatBlockedSectorsAsErrorSectors<ETX>
CoLa A	sRN treatBlockedSectorsAsErrorSectors
CoLa A	02 73 52 4E 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 03
CoLa B	02 02 02 02 00 00 00 25 73 52 4E 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 1B
CoLa B	73 52 4E 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73

Telegram structure: sRA treatBlockedSectorsAsErrorSectors

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read answer	String	3		sRA	73 52 41
Variable name	treatBlockedSectorsAsErrorSectors	String	33		treatBlockedSectorsAsErrorSectors	74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73
Value	State of Treat Blocked Sectors As Error Sectors (disabled/ enabled)	Bool_1	1	Disabled: Enabled:	0 1	00 01

Example: sRA treatBlockedSectorsAsErrorSectors

Protocol	Example
CoLa A	<STX>sRA{SPC}treatBlockedSectorsAsErrorSectors{SPC}1<ETX>
CoLa A	02 73 52 41 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 20 31 03
CoLa B	02 02 02 02 00 00 00 27 73 52 41 20 74 72 65 61 74 42 6C 6F 63 6B 65 64 53 65 63 74 6F 72 73 41 73 45 72 72 6F 72 53 65 63 74 6F 72 73 20 01 35

Set Performance Profile [sWN PerformanceProfileNumber]

Define which Dynamic Sensing Profile shall be used, .

Telegram structure: sWN PerformanceProfileNumber

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 Dynamic Sensing Profile	String	24		PerformanceProfileNumber	50 65 72 66 6F 72 6D 61 6E 63 65 50 72 6F 66 69 6C 65 4E 75 6D 62 65 72
Performance Profile	Selection of Dynamic Sensing Profile	Enum_8	1	Profile 1: Profile 2: Profile 3: Profile 4: Profile 5: Profile 6: Profile 7: Profile 8: Profile 9: Profile 10: Profile 11:	1 2 3 4 5 6 7 8 9 10 11	01 02 03 04 05 06 07 08 09 0A 0B

Example: sWN PerformanceProfileNumber

Protocol	Example
CoLa A	<STX>sWN{SPC}PerformanceProfileNumber{SPC}2<ETX>
CoLa A	<STX>sWN PerformanceProfileNumber 2<ETX>
CoLa A	sWN PerformanceProfileNumber 2
CoLa A	02 73 57 4E 20 50 65 72 66 6F 72 6D 61 6E 63 65 50 72 6F 66 69 6C 65 4E 75 6D 62 65 72 20 32 03
CoLa B	02 02 02 02 00 00 00 1E 73 57 4E 20 50 65 72 66 6F 72 6D 61 6E 63 65 50 72 6F 66 69 6C 65 4E 75 6D 62 65 72 20 02 58
CoLa B	73 57 4E 20 50 65 72 66 6F 72 6D 61 6E 63 65 50 72 6F 66 69 6C 65 4E 75 6D 62 65 72 20 02

Telegram structure: sWA PerformanceProfileNumber

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 Performance Profile	String	24		PerformanceProfileNumber	50 65 72 66 6F 72 6D 61 6E 63 65 50 72 6F 66 69 6C 65 4E 75 6D 62 65 72

Example: sWA PerformanceProfileNumber

Protocol	Example
CoLa A	<STX>sWA{SPC}PerformanceProfileNumber<ETX>
CoLa A	02 73 57 41 20 50 65 72 66 6F 72 6D 61 6E 63 65 50 72 6F 66 69 6C 65 4E 75 6D 62 65 72 03
CoLa B	02 02 02 02 00 00 00 18 73 57 41 20 50 65 72 66 6F 72 6D 61 6E 63 65 50 72 6F 66 69 6C 65 4E 75 6D 62 65 72 20

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

Protocol	Example
CoLa A	<STX>sMN{SPC}mEEwriteall<ETX>
CoLa A	<STX>sMN mEEwriteall<ETX>
CoLa A	sMN mEEwriteall
CoLa A	02 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 03
CoLa B	02 02 02 02 00 00 00 0F 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 21
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}mEEwriteall{SPC}1<ETX>
CoLa A	02 73 41 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 20 31 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sMN{SPC}Run<ETX>
CoLa A	<STX>sMN Run<ETX>
CoLa A	sMN Run
CoLa A	02 73 4D 4E 20 52 75 6E 03
CoLa B	02 02 02 02 00 00 00 07 73 4D 4E 20 52 75 6E 19
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}Run{SPC}1<ETX>
CoLa A	02 73 41 4E 20 52 75 6E 20 31 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sMN{SPC}mSCreboot<ETX>
CoLa A	<STX>sMN mSCreboot<ETX>
CoLa A	sMN mSCreboot
CoLa A	02 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 03
CoLa B	02 02 02 02 00 00 00 0D 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 2C
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}mSCreboot<ETX>
CoLa A	02 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 03
CoLa B	02 02 02 02 00 00 00 0E 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 20 00

Measurement output telegram

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

Protocol	Example
CoLa A	<STX>sWN{SPC}LMDscandatacfg{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}+1<ETX>
CoLa A	<STX>sWN LMDscandatacfg 0 0 1 0 0 0 0 0 0 0 0 +1<ETX>
CoLa A	sWN LMDscandatacfg 0 0 1 0 0 0 0 0 0 0 0 +1
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}LMDscandatacfg<ETX>
CoLa A	02 73 57 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 03
CoLa B	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

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.

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

Protocol	Example
CoLa A	<STX>sRN{SPC}LMDscandata<ETX>
CoLa A	<STX>sRN LMDscandata<ETX>
CoLa A	sRN LMDscandata
CoLa A	02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03
CoLa B	02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 05
CoLa B	73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61

Telegram structure: sRA LMDscandata

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Find complete telegram structure of the answer in .

Send data permanently [sEN LMDscandata]

Start/ stop continuous retrievement of measurement data from device. Data will be transmitted as configured in 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 or in case of 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

Protocol	Example
CoLa A	<STX>sEN{SPC}LMDscandata{SPC}1<ETX>
CoLa A	<STX>sEN LMDscandata 1<ETX>
CoLa A	sEN LMDscandata 1
CoLa A	02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sEA{SPC}LMDscandata{SPC}1<ETX>
CoLa A	02 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
CoLa B	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	15 Hz ... 50 Hz: (depends on Dynamic Sensing Profile )	5DCh ... 1388h	05 DC ... 13 88
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	-48° ... 228° (depends on Dynamic Sensing Profile )	FFF8AD00h … 22CA40h	FF F8 AD 00h … 00 22 CA 40h
Size of single angular step	Output format in degree: 1/10000°	Uint_16	2	0.1° ... 1°: (depends on angular resolution of Dynamic Sensing Profile )	3E8h ... 2710h	03 E8 ... 27 10
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	-48° ... 228° (depends on Dynamic Sensing Profile )	FFF8AD00h … 22CA40h	FF F8 AD 00h … 00 22 CA 40h
Size of single angular step	Output format: 1/10000°	Uint_16	2	0.1° ... 1°: (depends on Dynamic Sensing Profile )	3E8h ... 2710h	03 E8 ... 27 10
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 enable [sWN ScanDataEnable]

Enables/ Disables streaming data output

Telegram structure: sWN ScanDataEnable

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sWN	73 57 E4
Command	Enables/ Disables streaming data output.	String	14		ScanDataEnable	53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65
Data		Bool	1	Off: On:	0d (00h) +1d (01h)	00 ... 01

Example: sWN ScanDataEnable 0 - Disable the streaming data output

Protocol	Example
CoLa A	<STX>sWN{SPC}ScanDataEnable{SPC}0<ETX>
CoLa A	<STX>sWN ScanDataEnable 0<ETX>
CoLa A	sWN ScanDataEnable 0
CoLa A	02 73 57 4E 20 53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65 20 30 03
CoLa B	02 02 02 02 00 00 00 14 73 57 4E 20 53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65 20 00 44
CoLa B	73 57 4E 20 53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65 20 00

Telegram structure: sWA ScanDataEnable

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	Enables/ Disables streaming data output.	String	14		ScanDataEnable	53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65

Example: sWA ScanDataEnable

Protocol	Example
CoLa A	<STX>sWA{SPC}ScanDataEnable<ETX>
CoLa A	02 73 57 41 20 53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 13 73 57 41 20 53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65 20 4B

Set streaming ethernet settings [sWN ScanDataEthSettings]

Ethernet settings for the scan data streaming functionality of the device

Telegram structure: sWN ScanDataEthSettings

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	String	19		ScanDataEthSettings	53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73
Protocol	Transport protocol for streaming data	Enum_8	1	UDP (fix):	+1d (01h)	01
IPAddress	IP address of the destination for data receiver	Array	4		0 …+255d (00…FF) 0 …+255d (00..FF) 0 …+255d (00…FF) 0 …+255d (00…FF)	00 … FF 00 … FF 00 … FF 00 … FF
Port	Port destination of the data reseiver	Uint_16	2		0 .. +65535d(00 00…FF FF)	00 00 … FF FF

Example: sWN ScanDataEthSettings +1 +192 +168 +0 +100 +2115

Protocol is set to UDP (1), IPAddress (192.168.0.100), Port (2115)

Example: sWN ScanDataEthSettings

Protocol	Example
CoLa A	<STX>sWN{SPC}ScanDataEthSettings{SPC}+1{SPC}+192{SPC}+168{SPC}+0{SPC}+100{SPC}+2115<ETX>
CoLa A	<STX>sWN ScanDataEthSettings +1 +192 +168 +0 +100 +2115<ETX>
CoLa A	sWN ScanDataEthSettings +1 +192 +168 +0 +100 +2115
CoLa A	02 73 57 4E 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 31 20 43 30 20 41 38 20 30 20 36 34 20 38 34 33 03
CoLa B	02 02 02 02 00 00 00 1F 73 57 4E 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 01 C0 A8 00 64 08 43 5F
CoLa B	73 57 4E 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 01 C0 A8 00 64 08 43

Telegram structure: sWA ScanDataEthSettings

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	String	19		ScanDataEthSettings	53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73

Example: sWA ScanDataEthSettings

Protocol	Example
CoLa A	<STX>sWA{SPC}ScanDataEthSettings<ETX>
CoLa A	02 73 57 41 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 03
CoLa B	02 02 02 02 00 00 00 18 73 57 41 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 16

Read streaming ethernet settings [sRN ScanDataEthSettings]

Read ethernet settings for the scan data streaming functionality of the device.

Telegram structure: sRN ScanDataEthSettings

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	String	19		ScanDataEthSettings	53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73

Example: sRN ScanDataEthSettings

Protocol	Example
CoLa A	<STX>sWN{SPC}ScanDataEthSettings<ETX>
CoLa A	<STX>sRN ScanDataEthSettings<ETX>
CoLa A	sRN ScanDataEthSettings
CoLa A	02 73 52 4E 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 03
CoLa B	02 02 02 02 00 00 00 17 73 52 4E 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 3C
CoLa B	73 57 4E 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73

Telegram structure: sRA ScanDataEthSettings

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	String	19		ScanDataEthSettings	53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73
Protocol	Transport protocol for streaming data	Enum_8	1	UDP: TCP:	+1d (01h) +2d (02h)	01 02
IPAddress	IP address of the destination for data receiver	Array	4		0 …+255d (00…FF) 0 …+255d (00..FF) 0 …+255d (00…FF) 0 …+255d (00…FF)	00 … FF 00 … FF 00 … FF 00 … FF
Port	Port destination of the data receiver	Uint_16	2		0 .. +65535d(00 00…FF FF)	00 00 … FF FF

Example: sRA ScanDataEthSettings +1 +192 +168 +0 +100 +2115

Protocol is set to UDP (1), IPAddress (192.168.0.100), Port (2115)

Example: sRA ScanDataEthSettings

Protocol	Example
CoLa A	<STX>sRA{SPC}ScanDataEthSettings{SPC}1{SPC}C0{SPC}A8{SPC}0{SPC}64{SPC}843<ETX>
CoLa A	02 73 52 41 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 31 20 43 30 20 41 38 20 30 20 36 34 20 38 34 33 03
CoLa B	02 02 02 02 00 00 00 1F 73 52 41 20 53 63 61 6E 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 01 C0 A8 00 64 08 43 5F
CoLa B

Set Encoder data enable [sWN EncoderDataEnable]

Enables/ Disables streaming Encoder data output.

Telegram structure: sWN EncoderDataEnable

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 streaming Encoder data output.	String	17		EncoderDataEnable	45 6E 63 6F 64 65 72 44 61 74 61 45 6E 61 62 6C 65
Encoder data stream	Enable/ disable	Bool	1	Disable: Enable:	0d (00h) +1d (01h)	00 ... 01

Example: sWN EncoderDataEnable 0 - Disable the streaming Encoder data output

Protocol	Example
CoLa A	<STX>sWN{SPC}EncoderDataEnable{SPC}0<ETX>
CoLa A	<STX>sWN EncoderDataEnable 0<ETX>
CoLa A	sWN EncoderDataEnable 0
CoLa A	02 73 57 4E 20 45 6E 63 6F 64 65 72 44 61 74 61 45 6E 61 62 6C 65 20 30 03
CoLa B	02 02 02 02 00 00 00 17 73 57 4E 20 45 6E 63 6F 64 65 72 44 61 74 61 45 6E 61 62 6C 65 20 00 2F
CoLa B	73 57 4E 20 45 6E 63 6F 64 65 72 44 61 74 61 45 6E 61 62 6C 65 20 00

Telegram structure: sWA EncoderDataEnable

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 streaming Encoder data output.	String	17		EncoderDataEnable	45 6E 63 6F 64 65 72 44 61 74 61 45 6E 61 62 6C 65

Example: sWA EncoderDataEnable

Protocol	Example
CoLa A	<STX>sWA{SPC}EncoderDataEnable<ETX>
CoLa A	02 73 57 41 20 45 6E 63 6F 64 65 72 44 61 74 61 45 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 16 73 57 41 20 45 6E 63 6F 64 65 72 44 61 74 61 45 6E 61 62 6C 65 20 20

Set Encoder data streaming ethernet settings [sWN EncoderDataEthSettings]

Ethernet settings for the encoder data streaming functionality of the device

Telegram structure: sWN EncoderDataEthSettings

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 data streaming ethernet settings	String	22		EncoderDataEthSettings	45 6E 63 6F 64 65 72 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73
Protocol	Transport protocol for streaming IMU data	Enum_8	1	UDP:	+1d (01h)	01
IP address	IP address of the destination for IMU data receiver	Array	4		0 …+255d (00…FF) 0 …+255d (00..FF) 0 …+255d (00…FF) 0 …+255d (00…FF)	00 … FF 00 … FF 00 … FF 00 … FF
Port	Port destination of the Encoder data reseiver	Uint_16	2		0 .. +65535d(00 00…FF FF)	00 00 … FF FF

Example: sWN EncoderDataEthSettings +1 +192 +168 +0 +100 +7503

Protocol is set to UPD (1), IPAddress (192.168.0.100), Port (7503)

Example: sWN EncoderDataEthSettings

Protocol	Example
CoLa A	<STX>sWN{SPC}EncoderDataEthSettings{SPC}+1{SPC}+192{SPC}+168{SPC}+0{SPC}+100{SPC}+7503<ETX>
CoLa A	<STX>sWN EncoderDataEthSettings +1 +192 +168 +0 +100 +7503<ETX>
CoLa A	sWN EncoderDataEthSettings +1 +192 +168 +0 +100 +7503
CoLa A	02 73 57 4E 20 45 6E 63 6F 64 65 72 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 31 20 43 30 20 41 38 20 30 20 36 34 20 31 44 34 46 03
CoLa B	02 02 02 02 00 00 00 22 73 57 4E 20 45 6E 63 6F 64 65 72 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 01 C0 A8 00 64 1D 4F 2D
CoLa B	73 57 4E 20 45 6E 63 6F 64 65 72 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 01 C0 A8 00 64 1D 4F

Telegram structure: sWA EncoderDataEthSettings

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 data streaming ethernet settings	String	22		EncoderDataEthSettings	45 6E 63 6F 64 65 72 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73

Example: sWA EncoderDataEthSettings

Protocol	Example
CoLa A	<STX>sWA{SPC}EncoderDataEthSettings<ETX>
CoLa A	02 73 57 41 20 45 6E 63 6F 64 65 72 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 03
CoLa B	02 02 02 02 00 00 00 1B 73 57 41 20 45 6E 63 6F 64 65 72 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 7D

Set IMU data enable [sWN ImuDataEnable]

Enables/ Disables streaming IMU data output.

Telegram structure: sWN ImuDataEnable

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 streaming IMU data output.	String	13		ImuDataEnable	49 6D 75 44 61 74 61 45 6E 61 62 6C 65
IMU data stream	Enable/ disable	Bool	1	Disable: Enable:	0d (00h) +1d (01h)	00 ... 01

Example: sWN ImuDataEnable 0 - Disable the streaming IMU data output

Protocol	Example
CoLa A	<STX>sWN{SPC}ImuDataEnable{SPC}0<ETX>
CoLa A	<STX>sWN ImuDataEnable 0<ETX>
CoLa A	sWN ImuDataEnable 0
CoLa A	02 73 57 4E 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 20 30 03
CoLa B	02 02 02 02 00 00 00 13 73 57 4E 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 20 00 2A
CoLa B	73 57 4E 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 20 00

Telegram structure: sWA ImuDataEnable

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 streaming IMU data output.	String	13		ImuDataEnable	49 6D 75 44 61 74 61 45 6E 61 62 6C 65

Example: sWA ImuDataEnable

Protocol	Example
CoLa A	<STX>sWA{SPC}ImuDataEnable<ETX>
CoLa A	02 73 57 41 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 12 73 57 41 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 20 25

Set IMU data streaming ethernet settings [sWN ImuDataEthSettings]

Ethernet settings for the IMU data streaming functionality of the device

Telegram structure: sWN ImuDataEthSettings

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 IMU data streaming ethernet settings	String	18		ImuDataEthSettings	49 6D 75 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73
Protocol	Transport protocol for streaming IMU data	Enum_8	1	UDP:	+1d (01h)	01
IP address	IP address of the destination for IMU data receiver	Array	4		0 …+255d (00…FF) 0 …+255d (00..FF) 0 …+255d (00…FF) 0 …+255d (00…FF)	00 … FF 00 … FF 00 … FF 00 … FF
Port	Port destination of the IMU data reseiver	Uint_16	2		0 .. +65535d(00 00…FF FF)	00 00 … FF FF

Example: sWN ImuDataEthSettings +1 +192 +168 +0 +100 +7503

Protocol is set to UPD (1), IPAddress (192.168.0.100), Port (7503)

Example: sWN ImuDataEthSettings

Protocol	Example
CoLa A	<STX>sWN{SPC}ImuDataEthSettings{SPC}+1{SPC}+192{SPC}+168{SPC}+0{SPC}+100{SPC}+7503<ETX>
CoLa A	<STX>sWN ImuDataEthSettings +1 +192 +168 +0 +100 +7503<ETX>
CoLa A	sWN ImuDataEthSettings +1 +192 +168 +0 +100 +7503
CoLa A	02 73 57 4E 20 49 6D 75 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 31 20 43 30 20 41 38 20 30 20 36 34 20 31 44 34 46 03
CoLa B	02 02 02 02 00 00 00 1E 73 57 4E 20 49 6D 75 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 01 C0 A8 00 64 1D 4F 28
CoLa B	73 57 4E 20 49 6D 75 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 01 C0 A8 00 64 1D 4F

Telegram structure: sWA ImuDataEthSettings

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 IMU data streaming ethernet settings	String	18		ImuDataEthSettings	49 6D 75 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73

Example: sWA ImuDataEthSettings

Protocol	Example
CoLa A	<STX>sWA{SPC}ImuDataEthSettings<ETX>
CoLa A	02 73 57 41 20 49 6D 75 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 03
CoLa B	02 02 02 02 00 00 00 17 73 57 41 20 49 6D 75 44 61 74 61 45 74 68 53 65 74 74 69 6E 67 73 20 78

Read scan data format [sRN ScanDataFormat]

Return of the scan data format

Telegram structure: sRN ScanDataFormat

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	Data serialization format	String	14		ScanDataFormat	53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74

Example: sRN ScanDataFormat

Read of the data serialization format

Example: sRN ScanDataFormat

Protocol	Example
CoLa A	<STX>sRN{SPC}ScanDataFormat<ETX>
CoLa A	<STX>sRN ScanDataFormat<ETX>
CoLa A	sRN ScanDataFormat
CoLa A	02 73 52 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 03
CoLa B	02 02 02 02 00 00 00 12 73 52 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 63
CoLa B	73 52 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74

Telegram structure: sRA ScanDataFormat

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	Data serialization format	String	14		ScanDataFormat	53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74
Data		Enum_8	1	MSGPACK: Compact: LMDscandata: Native ROS2:	1h 2h 3h 4h	01 02 03 04

Example: sRA ScanDataFormat

Scan data format is set to Compact = 2

Example: sRA ScanDataFormat

Protocol	Example
CoLa A	<STX>sRA{SPC}ScanDataFormat{SPC}2<ETX>
CoLa A	02 73 57 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 32 03
CoLa B	02 02 02 02 00 00 00 14 73 57 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 02 4E

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

Example: sWN ScanDataFormat

Protocol	Example
CoLa A	<STX>sWN{SPC}ScanDataFormat{SPC}2<ETX>
CoLa A	<STX>sWN ScanDataFormat 2<ETX>
CoLa A	sWN ScanDataFormat 2
CoLa A	02 73 57 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 32 03
CoLa B	02 02 02 02 00 00 14 73 57 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 02 44
CoLa B	73 57 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 02

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

Protocol	Example
CoLa A	<STX>sWA{SPC}ScanDataFormat<ETX>
CoLa A	02 73 57 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 03
CoLa B	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

Set the session timeout for TCP/IP communication [sWN EtherSessionTimeout]

Set the session timeout for TCP/IP communication (e.g. LMDscandata communication). Be careful with low values as they might cause unexpected disconnections. Write access requires user level: Service.

Telegram structure: sWN EtherSessionTimeout

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write request	String	3		sWN	73 57 4E
Variable name	EtherSessionTimeout	String	19		EtherSessionTimeout	45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74
Value	Session timeout in ms	UInt_32	4		+15000	00 00 3A 98

Example: sWN EtherSessionTimeout

Protocol	Example
CoLa A	<STX>sWN{SPC}EtherSessionTimeout{SPC}+15000<ETX>
CoLa A	<STX>sWN EtherSessionTimeout +15000<ETX>
CoLa A	sWN EtherSessionTimeout +15000
CoLa A	02 73 57 4E 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 20 2B 31 35 30 30 30 03
CoLa B	02 02 02 02 00 00 00 1C 73 57 4E 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 20 00 00 3A 98 83
CoLa B	73 57 4E 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 20 00 00 3A 98

Telegram structure: sWA EtherSessionTimeout

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write answer	String	3		sWA	73 57 41
Variable name	Echo of variable name	String	19		EtherSessionTimeout	45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74

Example: sWA EtherSessionTimeout

Protocol	Example
CoLa A	<STX>sWA{SPC}EtherSessionTimeout<ETX>
CoLa A	02 73 57 41 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 03
CoLa B	02 02 02 02 00 00 00 17 73 57 41 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 0E

Read the session timeout for TCP/IP communication [sRN EtherSessionTimeout]

Returns the session timeout for TCP/IP communication (e.g. LMDscandata communication). Be careful with low values as they might cause unexpected disconnections.

Telegram structure: sRN EtherSessionTimeout

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read request	String	3		sRN	73 52 4E
Variable name	EtherSessionTimeout	String	19		EtherSessionTimeout	45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74

Example: sRN EtherSessionTimeout

Protocol	Example
CoLa A	<STX>sRN{SPC}EtherSessionTimeout<ETX>
CoLa A	<STX>sRN EtherSessionTimeout<ETX>
CoLa A	sRN EtherSessionTimeout
CoLa A	02 73 52 4E 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 03
CoLa B	02 02 02 02 00 00 00 17 73 52 4E 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 04
CoLa B	73 52 4E 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74

Telegram structure: sRA EtherSessionTimeout

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read answer	String	3		sRA	73 52 41
Variable name	EtherSessionTimeout	String	19		EtherSessionTimeout	45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74
Value	Session timeout in ms	UInt_32	4		+15000	00 00 3A 98

Example: sRA EtherSessionTimeout

Protocol	Example
CoLa A	<STX>sRA{SPC}EtherSessionTimeout{SPC}+15000<ETX>
CoLa A	02 73 52 41 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 20 2B 31 35 30 30 30 03
CoLa B	02 02 02 02 00 00 00 1C 73 52 41 20 45 74 68 65 72 53 65 73 73 69 6F 6E 54 69 6D 65 6F 75 74 20 00 00 3A 98 89

Set the content of the Compact format telegram type 1 [sWN compactTelegramType1Content]

Sets the content of the Compact format telegram type 1 (e.g. whether to include the RSSI values).

Telegram structure: sWN compactTelegramType1Content

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write request	String	3		sWN	73 57 4E
Variable name	compactTelegramType1Content	String	27		compactTelegramType1Content	63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74
includeRssi	If true, RSSIs are serialized	Bool_1	1	Disable: Enable:	0 1	00 01
includeProperties	If true, properties are serialized	Bool_1	1	Disable: Enable:	0 1	00 01

Example: sWN compactTelegramType1Content

Protocol	Example
CoLa A	<STX>sWN{SPC}compactTelegramType1Content{SPC}1{SPC}1<ETX>
CoLa A	<STX>sWN compactTelegramType1Content 1 1<ETX>
CoLa A	sWN compactTelegramType1Content 1 1
CoLa A	02 73 57 4E 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 20 31 20 31 03
CoLa B	02 02 02 02 00 00 00 22 73 57 4E 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 20 01 01 6C
CoLa B	73 57 4E 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 20 01 01

Telegram structure: sWA compactTelegramType1Content

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write answer	String	3		sWA	73 57 41
Variable name	Echo of variable name	String	27		compactTelegramType1Content	63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74

Example: sWA compactTelegramType1Content

Protocol	Example
CoLa A	<STX>sWA{SPC}compactTelegramType1Content<ETX>
CoLa A	02 73 57 41 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 03
CoLa B	02 02 02 02 00 00 00 1F 73 57 41 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 43

Read compactTelegramType1Content [sRN compactTelegramType1Content]

Returns the content of the Compact format telegram type 1 (e.g. whether to include the RSSI values).

Telegram structure: sRN compactTelegramType1Content

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read request	String	3		sRN	73 52 4E
Variable name	compactTelegramType1Content	String	27		compactTelegramType1Content	63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74

Example: sRN compactTelegramType1Content

Protocol	Example
CoLa A	<STX>sRN{SPC}compactTelegramType1Content<ETX>
CoLa A	<STX>sRN compactTelegramType1Content<ETX>
CoLa A	sRN compactTelegramType1Content
CoLa A	02 73 52 4E 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 03
CoLa B	02 02 02 02 00 00 00 1F 73 52 4E 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 49
CoLa B	73 52 4E 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74

Telegram structure: sRA compactTelegramType1Content

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read answer	String	3		sRA	73 52 41
Variable name	compactTelegramType1Content	String	27		compactTelegramType1Content	63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74
includeRssi	If true, RSSIs are serialized	Bool_1	1	Disabled: Enabled:	0 1	00 01
includeProperties	If true, properties are serialized	Bool_1	1	Disabled: Enabled:	0 1	00 01

Example: sRA compactTelegramType1Content

Protocol	Example
CoLa A	<STX>sRA{SPC}compactTelegramType1Content{SPC}1{SPC}1<ETX>
CoLa A	02 73 52 41 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 20 31 20 31 03
CoLa B	02 02 02 02 00 00 00 22 73 52 41 20 63 6F 6D 70 61 63 74 54 65 6C 65 67 72 61 6D 54 79 70 65 31 43 6F 6E 74 65 6E 74 20 01 01 66

Write ROS parent frame ID [sWN rosParentFrameId]

Set the parent frame ID of the published topics.

Telegram structure: sWN rosParentFrameId

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 parent frame ID of the published topics	String	16		rosParentFrameId	72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64
Value	Number of characters of the parent frame id	Uint_16	1		0d ... +16d (0h ... 10h	00 00 ... 00 10
Value	Configured parent frame ID	FlexString	64		[Parent frame ID]	[Parent frame ID]

Example: sWN rosParentFrameId

Protocol	Example
CoLa A	<STX>sWN{SPC}rosParentFrameId{SPC}5{SPC}world<ETX>
CoLa A	<STX>sWN rosParentFrameId 5 world<ETX>
CoLa A	sWN rosFrameId 5 world
CoLa A	02 73 57 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 2B 35 20 77 6F 72 6C 64 03
CoLa B	02 02 02 02 00 00 00 1D 73 57 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 00 05 20 77 6F 72 6C 64 0F
CoLa B	73 57 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 00 05 20 77 6F 72 6C 64

Telegram structure: sWA rosParentFrameId

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 parent frame ID of the published topics	String	16		rosParentFrameId	72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64

Example: sWA rosParentFrameId

Protocol	Example
CoLa A	<STX>sWA{SPC}rosParentFrameId<ETX>
CoLa A	02 73 57 41 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 03
CoLa B	02 02 02 02 00 00 00 15 73 57 41 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 47

Read ROS parent frame ID [sRN rosParentFrameId]

Returns the parent frame ID of the published topics.

Telegram structure: sRN rosParentFrameId

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 parent frame ID of the published topics	String	16		rosParentFrameId	72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64

Example: sRN rosParentFrameId

Protocol	Example
CoLa A	<STX>sRN{SPC}rosParentFrameId<ETX>
CoLa A	<STX>sRN rosParentFrameId<ETX>
CoLa A	sRN rosParentFrameId
CoLa A	02 73 52 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 03
CoLa B	02 02 02 02 00 00 00 14 73 57 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 6D
CoLa B	73 57 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64

Telegram structure: sRA rosParentFrameId

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 parent frame ID of the published topics	String	16		rosParentFrameId	72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64
Value	Number of characters of the parent frame id	Uint_16	2		0d ... +16d (0h ... 10h	00 00 ... 00 10
Value	Configured parent frame ID	FlexString	64		[Parent frame ID]	[Parent frame ID]

Example: sRA rosParentFrameId

Protocol	Example
CoLa A	<STX>sRA{SPC}rosParentFrameId{SPC}5{SPC}world<ETX>
CoLa A	02 73 52 41 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 2B 35 20 77 6F 72 6C 64 03
CoLa B	02 02 02 02 00 00 00 1C 73 52 41 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 00 05 20 77 6F 72 6C 64 61

Write ROS frame ID [sWN rosFrameId]

Set the frame ID of the published topics.

Telegram structure: sWN rosFrameId

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	ROS reference frame to use for data output	String	10		rosFrameId	72 6F 73 46 72 61 6D 65 49 64
Value	Number of characters of the frame id	Uint_16	1		0d ... +16d (0h ... 10h	00 00 ... 00 10
Value	Configured Frame ID of the device	FlexString	64		[Frame ID]	[Frame ID]

Example: sWN rosFrameId

Protocol	Example
CoLa A	<STX>sWN{SPC}rosFrameId{SPC}4{SPC}test<ETX>
CoLa A	<STX>sWN rosFrameId 4 test<ETX>
CoLa A	sWN rosFrameId 4 test
CoLa A	02 73 57 4E 20 72 6F 73 46 72 61 6D 65 49 64 20 34 20 74 65 73 74 03
CoLa B	02 02 02 02 00 00 00 16 73 57 4E 20 72 6F 73 46 72 61 6D 65 49 64 20 00 01 74 65 73 74 43
CoLa B	73 57 4E 20 72 6F 73 46 72 61 6D 65 49 64 20 00 01 74 65 73 74

Telegram structure: sWA rosFrameId

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	ROS reference frame to use for data output	String	10		rosFrameId	72 6F 73 46 72 61 6D 65 49 64

Example: sWA rosFrameId

Protocol	Example
CoLa A	<STX>sWA{SPC}rosFrameId<ETX>
CoLa A	02 73 57 41 20 72 6F 73 46 72 61 6D 65 49 64 03
CoLa B	02 02 02 02 00 00 00 0F 73 57 41 20 72 6F 73 46 72 61 6D 65 49 64 20 7B

Read ROS frame ID [sRN rosFrameId]

Returns the frame ID of the published topics.

Telegram structure: sRN rosFrameId

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	ROS reference frame to use for data output	String	10		rosFrameId	72 6F 73 46 72 61 6D 65 49 64

Example: sRN rosFrameId

Protocol	Example
CoLa A	<STX>sRN{SPC}rosFrameId<ETX>
CoLa A	<STX>sRN rosFrameId<ETX>
CoLa A	sRN rosFrameId
CoLa A	02 73 52 4E 20 72 6F 73 46 72 61 6D 65 49 64 03
CoLa B	02 02 02 02 00 00 00 0E 73 52 4E 20 72 6F 73 46 72 61 6D 65 49 64 51
CoLa B	73 52 4E 20 72 6F 73 46 72 61 6D 65 49 64

Telegram structure: sRA rosFrameId

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	ROS reference frame to use for data output	String	10		rosFrameId	73 57 4E 20 72 6F 73 46 72 61 6D 65 49 64
Value	Number of characters of the frame id	Uint_16	1		0d ... +16d (0h ... 10h	00 00 ... 00 10
Value	Configured Frame ID of the device	FlexString	64		[Frame ID]	[Frame ID]

Example: sRA rosFrameId - Frame ID is "picoScan_"

Protocol	Example
CoLa A	<STX>sRA{SPC}rosFrameId{SPC}9{SPC}picoScan_<ETX>
CoLa A	02 73 52 41 20 72 6F 73 46 72 61 6D 65 49 64 20 39 20 70 69 63 6F 53 63 61 6E 5F 03
CoLa B	02 02 02 02 00 00 00 1A 73 52 41 20 72 6F 73 46 72 61 6D 65 49 64 20 00 09 70 69 63 6F 53 63 61 6E 5F 02

Write ROS namespace [sWN rosNamespace]

Adds a prefix to all ROS entities (topics, services, parameters).

Telegram structure: sWN rosNamespace

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	Sets the namespace of the published topics	String	12		rosNamespace	72 6F 73 4E 61 6D 65 73 70 61 63 65
Value	Number of characters of the frame id	Uint_16	2		0d ... +16d (0h ... 10h)	00 00 ... 00 10
Value	Name	FlexString	64		[Namespace]	[Namespace]

Example: sWN rosNamespace - Namespace is "rear_lidar"

Protocol	Example
CoLa A	<STX>sWN{SPC}rosNamespace{SPC}A{SPC}rear_lidar<ETX>
CoLa A	<STX>sWN rosNamespace A rear_lidar<ETX>
CoLa A	sWN rosNamespace A rear_lidar
CoLa A	02 73 57 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 41 20 72 65 61 72 5F 6C 69 64 61 72 03
CoLa B	02 02 02 02 00 00 00 1F 73 57 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 00 0A 20 72 65 61 72 5F 6C 69 64 61 72 64 20
CoLa B	73 57 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 00 0A 20 72 65 61 72 5F 6C 69 64 61 72 64

Telegram structure: sWA rosNamespace

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	Sets the namespace of the published topics	String	12		rosNamespace	72 6F 73 4E 61 6D 65 73 70 61 63 65

Example: sWA rosNamespace

Protocol	Example
CoLa A	<STX>sWA{SPC}rosNamespace<ETX>
CoLa A	02 73 57 41 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 03
CoLa B	02 02 02 02 00 00 00 11 73 57 41 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 48

Read ROS namespace [sRN rosNamespace]

Returns the namespace of the published topics.

Telegram structure: sRN rosNamespace

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	Reads the namespace of the published topics	String	12		rosNamespace	72 6F 73 4E 61 6D 65 73 70 61 63 65

Example: sRN rosNamespace

Protocol	Example
CoLa A	<STX>sRN{SPC}rosNamespace<ETX>
CoLa A	<STX>sRN rosNamespace<ETX>
CoLa A	sRN rosNamespace
CoLa A	02 73 52 4E 20 72 6F 72 4E 61 6D 65 73 70 61 63 65 03
CoLa B	02 02 02 02 00 00 00 10 73 52 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 62
CoLa B	73 52 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65

Telegram structure: sRA rosNamespace

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	Reads the namespace of the published topics	String	12		rosNamespace	72 6F 73 4E 61 6D 65 73 70 61 63 65
Value	Number of characters of the frame id	Uint_16	2		0d ... +16d (0h ... 10h)	00 00 ... 00 10
Value	Name	FlexString	64		[Namespace]	[Namespace]

Example: sRA rosNamespace - Namespace is "rear_lidar"

Protocol	Example
CoLa A	<STX>sRA{SPC}rosNamespace{SPC}A{SPC}rear_lidar<ETX>
CoLa A	02 73 52 41 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 41 20 72 65 61 72 5F 6C 69 64 61 72 03
CoLa B	02 02 02 02 00 00 00 1A 73 52 41 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 00 09 70 69 63 6F 53 63 61 6E 5F 02

Configure the ROS domain ID for Native ROS 2 [sWN rosDomainId]

Configure the ROS domain ID for Native ROS 2.

Telegram structure: sWN rosDomainId

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write request	String	3		sWN	73 57 4E
Variable name	rosDomainId	String	11		rosDomainId	72 6F 73 44 6F 6D 61 69 6E 49 64
Value	ROS domain ID	UInt_8	1		0	00

Example: sWN rosDomainId

Protocol	Example
CoLa A	<STX>sWN{SPC}rosDomainId{SPC}0<ETX>
CoLa A	<STX>sWN rosDomainId 0<ETX>
CoLa A	sWN rosDomainId 0
CoLa A	02 73 57 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 20 30 03
CoLa B	02 02 02 02 00 00 00 11 73 57 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 20 00 09
CoLa B	73 57 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 20 00

Telegram structure: sWA rosDomainId

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write answer	String	3		sWA	73 57 41
Variable name	Echo of variable name	String	11		rosDomainId	72 6F 73 44 6F 6D 61 69 6E 49 64

Example: sWA rosDomainId

Protocol	Example
CoLa A	<STX>sWA{SPC}rosDomainId<ETX>
CoLa A	02 73 57 41 20 72 6F 73 44 6F 6D 61 69 6E 49 64 03
CoLa B	02 02 02 02 00 00 00 0F 73 57 41 20 72 6F 73 44 6F 6D 61 69 6E 49 64 26

Read the configured ROS domain ID set for Native ROS 2 [sRN rosDomainId]

Returns the configured ROS domain ID set for Native ROS 2.

Telegram structure: sRN rosDomainId

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read request	String	3		sRN	73 52 4E
Variable name	rosDomainId	String	11		rosDomainId	72 6F 73 44 6F 6D 61 69 6E 49 64

Example: sRN rosDomainId

Protocol	Example
CoLa A	<STX>sRN{SPC}rosDomainId<ETX>
CoLa A	<STX>sRN rosDomainId<ETX>
CoLa A	sRN rosDomainId
CoLa A	02 73 52 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 03
CoLa B	02 02 02 02 00 00 00 0F 73 52 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 2C
CoLa B	73 52 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64

Telegram structure: sRA rosDomainId

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read answer	String	3		sRA	73 52 41
Variable name	rosDomainId	String	11		rosDomainId	72 6F 73 44 6F 6D 61 69 6E 49 64
Value	ROS domain ID	UInt_8	1		0	00

Example: sRA rosDomainId

Protocol	Example
CoLa A	<STX>sRA{SPC}rosDomainId{SPC}0<ETX>
CoLa A	02 73 52 41 20 72 6F 73 44 6F 6D 61 69 6E 49 64 20 30 03
CoLa B	02 02 02 02 00 00 00 11 73 52 41 20 72 6F 73 44 6F 6D 61 69 6E 49 64 20 00 03

Time stamp

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

Protocol	Example
CoLa A	<STX>sWN{SPC}TSCRole{SPC}1<ETX>
CoLa A	<STX>sWN TSCRole 1<ETX>
CoLa A	sWN TSCRole 1
CoLa A	02 73 57 4E 20 54 53 43 52 6F 6C 65 20 31 03
CoLa B	02 02 02 02 00 00 00 0D 73 57 4E 20 54 53 43 52 6F 6C 65 20 01 1B
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}TSCRole<ETX>
CoLa A	02 73 57 41 20 54 53 43 52 6F 6C 65 03
CoLa B	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 1: sMN LSPsetdatetime Date: 17.02.2009; Time: 16:34

Protocol	Example
CoLa A	<STX>sMN{SPC}LSPsetdatetime{SPC}7D9{SPC}2{SPC}11{SPC}10{SPC}22{SPC}0{SPC}0<ETX>
CoLa A	<STX>sMN LSPsetdatetime 7D9 2 11 10 22 0 0<ETX>
CoLa A	sMN LSPsetdatetime 7D9 2 11 10 22 0 0
CoLa A	02 73 4D 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 37 44 39 20 32 20 31 31 20 31 30 20 32 32 20 30 20 30 03
CoLa B	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 D9 02 11 10 22 00 00 00 00 00 B3
CoLa B	73 4D 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 07 D9 02 11 10 22 00 00 00 00 00

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

Protocol	Example
CoLa A	<STX>sMN{SPC}LSPsetdatetime{SPC}+2010{SPC}+01{SPC}+26{SPC}+10{SPC}+35{SPC}0{SPC}0<ETX>
CoLa A	<STX>sMN LSPsetdatetime +2010 +01 +26 +10 +35 0 0<ETX>
CoLa A	sMN LSPsetdatetime +2010 +01 +26 +10 +35 0 0
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}LSPsetdatetime{SPC}0<ETX>
CoLa A	02 73 41 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 30 03
CoLa B	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”.

Set NTP (Network Time Protocol) parameters

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

Protocol	Example
CoLa A	<STX>sWN{SPC}TSCTCSrvAddr{SPC}C0{SPC}A8{SPC}00{SPC}0B<ETX>
CoLa A	<STX>sWN TSCTCSrvAddr C0 A8 00 0B<ETX>
CoLa A	sWN TSCTCSrvAddr C0 A8 00 0B
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}TSCTCSrvAddr<ETX>
CoLa A	02 73 57 41 20 54 53 43 54 43 53 72 76 41 64 64 72 03
CoLa B	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

Example: sWN TSCTCtimezone Amsterdam, Berlin, Rom

Protocol	Example
CoLa A	<STX>sWN{SPC}TSCTCtimezone{SPC}+36<ETX>
CoLa A	<STX>sWN TSCTCtimezone +36<ETX>
CoLa A	sWN TSCTCtimezone +36
CoLa A	02 73 57 4E 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 20 24 03
CoLa B	02 02 02 02 00 00 00 13 73 57 4E 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 20 24 16
CoLa B	73 57 4E 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 20 24

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

Protocol	Example
CoLa A	<STX>sWA{SPC}TSCTCtimezone<ETX>
CoLa A	02 73 57 41 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sWN{SPC}TSCTCupdatetime{SPC}+600<ETX>
CoLa A	<STX>sWN TSCTCupdatetime +600<ETX>
CoLa A	sWN TSCTCupdatetime +600
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}TSCTCupdatetime<ETX>
CoLa A	02 73 57 41 20 54 53 43 54 43 75 70 64 61 74 65 74 69 6D 65 03
CoLa B	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

Filters

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

Protocol	Example
CoLa A	<STX>sWN{SPC}LFPparticle{SPC}1{SPC}+500<ETX>
CoLa A	<STX>sWN LFPparticle 1 +500<ETX>
CoLa A	sWN LFPparticle 1 +500
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}LFPparticle<ETX>
CoLa A	02 73 57 41 20 4C 46 50 70 61 72 74 69 63 6C 65 03
CoLa B	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 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

Protocol	Example
CoLa A	<STX>sWN{SPC}FREchoFilter{SPC}1<ETX>
CoLa A	<STX>sWN FREchoFilter 1<ETX>
CoLa A	sWN FREchoFilter 1
CoLa A	02 73 57 4E 20 46 52 45 63 68 6F 46 69 6C 74 65 72 20 31 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}FREchoFilter<ETX>
CoLa A	02 73 57 41 20 46 52 45 63 68 6F 46 69 6C 74 65 72 03
CoLa B	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

Set sensitivity fog filter [sWN MCSenseLevel]

Filter out disturbances in the meausurement data caused by fog or steam.

Telegram structure: sWN MCSenseLevel

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	Sense level	String	12		MCSenseLevel	4D 43 53 65 6E 73 65 4C 65 76 65 6C
Sensitivity level	Enable or disable fog filter and Sense Level	Uint_8	1	Fog Filter off Fog Filter on	0 1	00 01

Example: sWN MCSenseLevel

Protocol	Example
CoLa A	<STX>sWN{SPC}MCSenseLevel{SPC}1<ETX>
CoLa A	<STX>sWN MCSenseLevel 1<ETX>
CoLa A	sWN MCSenseLevel 1
CoLa A	02 73 57 4E 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 31 03
CoLa B	02 02 02 02 00 00 00 10 73 57 4E 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 01 70
CoLa B	73 57 4E 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 01

Telegram structure: sWA MCSenseLevel

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	Sense level	String	12		MCSenseLevel	4D 43 53 65 6E 73 65 4C 65 76 65 6C

Example: sWA MCSenseLevel

Protocol	Example
CoLa A	<STX>sWA{SPC}MCSenseLevel<ETX>
CoLa A	02 73 57 41 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 03
CoLa B	02 02 02 02 00 00 00 0F 73 57 41 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 73

Set rectangular filter [sWN LFPcubicareafilter]

Telegram structure: sWN LFPcubicareafilter

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	CubicAreaFilter limits a polar scan to a axisparallel cube	String	18		LFPcubicareafilter	4C 46 50 63 75 62 69 63 61 72 65 61 66 69 6C 74 65 72
Variable data 1	Enables/Disables the filter.	Bool	1	Off: On:	0d 1d	00 01
Variable Data 2	X min 1/10 mm	Int_32	4		-200000d…+200000d	FF FF B1 E0 … 00 00 4E 20
Variable Data 3	X max 1/10 mm	Int_32	4		-200000d…+200000d	FF FF B1 E0 … 00 00 4E 20
Variable Data 4	Y min 1/10 mm	Int_32	4		-200000d…+200000d	FF FF B1 E0 … 00 00 4E 20
Variable Data 5	Y max 1/10 mm	Int_32	4		-200000d…+200000d	FF FF B1 E0 … 00 00 4E 20
Variable Data 6	Z min 1/10 mm	Int_32	4	Other values than 0 will be ignored	0	00 00 00 00
Variable Data 7	Z max 1/10 mm	Int_32	4	Other values than 0 will be ignored	0	00 00 00 00

Example: sWN LFPcubicAreafilter

Protocol	Example
CoLa A	<STX>sWN{SPC}LFPcubicfreafilter{SPC}0{SPC}FFFFB1E0{SPC}4E20{SPC}FFFFB1E0{SPC}4E20{SPC}FFFFB1E0{SPC}4E20<ETX>
CoLa A	<STX>sWN LFPcubicareafilter 0 FFFFB1E0 4E20 FFFFB1E0 4E20 FFFFB1E0 4E20<ETX>
CoLa A	sWN LFPcubicareafilter 0 FFFFB1E0 4E20 FFFFB1E0 4E20 FFFFB1E0 4E20
CoLa A	02 73 57 4E 20 4C 46 50 63 75 62 69 63 61 72 65 61 66 69 6C 74 65 72 20 30 20 46 46 46 46 42 31 45 30 20 34 45 32 30 20 46 46 46 46 42 31 45 30 20 34 45 32 30 20 46 46 46 46 42 31 45 30 20 34 45 32 30 03
CoLa B	02 02 02 02 00 00 00 30 73 57 4E 20 4C 46 50 63 75 62 69 63 61 72 65 61 66 69 6C 74 65 72 20 00 FF FF B1 E0 00 00 4E 20 FF FF B1 E0 00 00 4E 20 FF FF B1 E0 00 00 4E 20 66
CoLa B	73 57 4E 20 4C 46 50 63 75 62 69 63 61 72 65 61 66 69 6C 74 65 72 20 00 FF FF B1 E0 00 00 4E 20 FF FF B1 E0 00 00 4E 20 FF FF B1 E0 00 00 4E 20

Telegram structure: sWA LFPcubicareafilter

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	CubicAreaFilter limits a polar scan to a axisparallel cube	String	18		LFPcubicareafilter	4C 46 50 63 75 62 69 63 61 72 65 61 66 69 6C 74 65 72

Example: sWA LFPcubicareafilter

Protocol	Example
CoLa A	<STX>sWA{SPC}LFPcubicareafilter<ETX>
CoLa A	02 73 57 41 20 4C 46 50 63 75 62 69 63 61 72 65 61 66 69 6C 74 65 72 03
CoLa B	02 02 02 02 00 00 00 17 73 57 41 20 4C 46 50 63 75 62 69 63 61 72 65 61 66 69 6C 74 65 72 20 56

Activate extended range mode [sWN EnableLongRangeMode]

Extends the maximum scanning distance .

Telegram structure: sWN EnableLongRangeMode

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	Enable extended range mode	String	19		EnableLongRangeMode	45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65
Status code	Activate / deactivate extended range mode	Bool_1	1	Inactive: Active:	0 1	00 01

Example: sWN EnableLongRangeMode 1

Protocol	Example
CoLa A	<STX>sWN{SPC}EnableLongRangeMode{SPC}1<ETX>
CoLa A	<STX>sWN EnableLongRangeMode 1<ETX>
CoLa A	sWN EnableLongRangeMode 1
CoLa A	02 73 57 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 20 31 03
CoLa B	02 02 02 02 00 00 00 19 73 57 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 20 01 1C
CoLa B	73 57 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 20 01

Telegram structure: sWA EnableLongeRangeModer

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	Enable extended range mode	String	19		EnableLongRangeMode	45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65

Example: sWA EnableLongeRangeMode

Protocol	Example
CoLa A	<STX>sWA{SPC}EnableLongRangeMode<ETX>
CoLa A	02 73 57 41 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 03
CoLa B	02 02 02 02 00 00 00 18 73 57 41 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 20 12

Read status of extended range mode [sRN EnableLongRangeMode]

Read if the extended range mode is currently active.

Telegram structure: sRN EnableLongRangeMode

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3		sRN	73 57 4E
Command	Read status of extended range mode	String	19		EnableLongRangeMode	45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65

Example: sRN EnableLongRangeMode

Protocol	Example
CoLa A	<STX>sRN{SPC}EnableLongRangeMode<ETX>
CoLa A	<STX>sRN EnableLongRangeMode<ETX>
CoLa A	sRN EnableLongRangeMode
CoLa A	02 73 57 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 03
CoLa B	02 02 02 02 00 00 00 17 73 57 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 38
CoLa B	73 57 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65

Telegram structure: sRA EnableLongRangeMode

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 status of extended range mode	String	19		EnableLongRangeMode	45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65
Status code	Status of extended range mode	Bool_1	1	Inactive: Active:	0 1	00 01

Example: sWA EnableLongrangeMode

Protocol	Example
CoLa A	<STX>sRA{SPC}EnableLongRangeMode{SPC}1<ETX>
CoLa A	02 73 52 41 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 20 31 03
CoLa B	02 02 02 02 00 00 00 13 73 52 41 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 20 01 16

Set angle range filter [sWN LFPangleRangeFilter]

The angle range filter set up the horizontal (theta) and vertical (phi) start- and stop angle in rad.

BeamIncrement = the 'beamIncrement' which is used to subsample the beams within the selected angle range. With a 'beamIncrement' of n only every nth beam from the selected angle range is copied to the output scan, i.e. the angle resolution is reduced by factor n. If the beamIncrement is zero it is set to one.

Telegram structure: sWN LFPangleRangeFilter

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	filter set up the horizontal (theta) and vertical (phi) start- and stop angle in rad	String	19		LFPangleRangeFilter	4C 46 50 61 6E 67 6C 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 +1d	00 01
Variable Data 2	ThetaStart	Real	4	No impact on sensor setting but needs to be filled (see example)	-1,800,000d ... +1,800,000d (FFE488C0 ... 001B7740h)	FF E4 88 C0 … 00 1B 77 40
Variable Data 3	ThetaStop	Real	4	No impact on sensor setting but needs to be filled (see example)	-1,800,000d ... +1,800,000d (FFE488C0 ... 001B7740h)	FF E4 88 C0 … 00 1B 77 40
Variable Data 4	PhiStart	Real	4	No impact on sensor setting but needs to be filled (see example)	-900,000d ... +900,000d (FFF24460 ... 000DBBA0h)	FF F2 44 60 … 00 0D BB A0
Variable Data 5	PhiStop	Real	4	No impact on sensor setting but needs to be filled (see example)	-900,000d ... +900,000d (FFF24460 ... 000DBBA0h)	FF F2 44 60 … 00 0D BB A0
Variable Data 6	BeamIncrement	UInt_16	2	No impact on sensor setting but needs to be filled (see example)	1d…+20d	00 01 … 00 14

Explanation: Enable the angle range filter and set up theta (horizontal) start -90°, theta stop +90°, phi (vertical) start -90°, phi stop +90°, beam increment 1

Example: sWN LFPanlgeRangeFilter

Protocol	Example
CoLa A	<STX>sWN{SPC}LFPangleRangeFilter{SPC}1{SPC}-900000{SPC}+900000{SPC}-900000{SPC}+900000{SPC}1<ETX>
CoLa A	<STX>sWN LFPangleRangeFilter 1 -900000 +900000 -900000 +900000 1<ETX>
CoLa A	sWN LFPangleRangeFilter 1 -900000 +900000 -900000 +900000 1
CoLa A	02 73 57 4E 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 31 20 2D 39 30 30 30 30 30 20 2B 39 30 30 30 30 30 20 2D 39 30 30 30 30 30 20 2B 39 30 30 30 30 30 20 31 03
CoLa B	02 02 02 02 00 00 00 2B 73 57 4E 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 01 FF F2 44 60 00 0D BB A0 FF F2 44 60 00 0D BB A0 00 01 2E
CoLa B	73 57 4E 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 01 FF F2 44 60 00 0D BB A0 FF F2 44 60 00 0D BB A0 00 01

Telegram structure: sWA LFP AngleRangeFilter

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	filter set up the horizontal (theta) and vertical (phi) start- and stop angle in rad	String	19		LFPangleRangeFilter	4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72

Example: sWA LFPangleRangeFilter

Protocol	Example
CoLa A	<STX>sWA{SPC}LFPangleRangeFilter<ETX>
CoLa A	02 73 57 41 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 03
CoLa B	02 02 02 02 00 00 00 18 73 57 41 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 21

Read angle range filter [sRN LFPangleRangeFilter]

The angle range filter set up the horizontal (theta) and vertical (phi) start- and stop angle in rad.

BeamIncrement = the 'beamIncrement' which is used to subsample the beams within the selected angle range. With a 'beamIncrement' of n only every nth beam from the selected angle range is copied to the output scan, i.e. the angle resolution is reduced by factor n. If the beamIncrement is zero it is set to one.

Telegram structure: sRN LFPangleRangeFilter

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	filter set up the horizontal (theta) and vertical (phi) start- and stop angle in rad	String	19		LFPangleRangeFilter	4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72

Example: sRN LFPangleRangeFilter

Protocol	Example
CoLa A	<STX>sRN{SPC}LFPangleRangeFilter<ETX>
CoLa A	02 73 52 4E 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 03
CoLa B	02 02 02 02 00 00 00 18 73 52 4E 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 21

Telegram structure: sRA LFP AngleRangeFilter

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	filter set up the horizontal (theta) and vertical (phi) start- and stop angle in rad	String	19		LFPangleRangeFilter	4C 46 50 61 6E 67 6C 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 +1d	00 01
Variable Data 2	ThetaStart	Real	4	No impact on sensor setting	-1,800,000d ... +1,800,000d (FFE488C0 ... 001B7740h)	FF E4 88 C0 … 00 1B 77 40
Variable Data 3	ThetaStop	Real	4	No impact on sensor setting	-1,800,000d ... +1,800,000d (FFE488C0 ... 001B7740h)	FF E4 88 C0 … 00 1B 77 40
Variable Data 4	PhiStart	Real	4	No impact on sensor setting	-900,000d ... +900,000d (FFF24460 ... 000DBBA0h)	FF F2 44 60 … 00 0D BB A0
Variable Data 5	PhiStop	Real	4	No impact on sensor setting	-900,000d ... +900,000d (FFF24460 ... 000DBBA0h)	FF F2 44 60 … 00 0D BB A0
Variable Data 6	BeamIncrement	UInt_16	2	No impact on sensor setting	1d…+20d	00 01 … 00 14

Explanation: Angle range filter enabled and set up theta (horizontal) start -90°, theta stop +90°, phi (vertical) start -90°, phi stop +90°, beam increment 1

Example: sRA LFPanlgeRangeFilter

Protocol	Example
CoLa A	<STX>sRA{SPC}LFPangleRangeFilter{SPC}1{SPC}-900000{SPC}+900000{SPC}-900000{SPC}+900000{SPC}1<ETX>
CoLa A	<STX>sRA LFPangleRangeFilter 1 -900000 +900000 -900000 +900000 1<ETX>
CoLa A	sRA LFPangleRangeFilter 1 -900000 +900000 -900000 +900000 1
CoLa A	02 73 52 41 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 31 20 2D 39 30 30 30 30 30 20 2B 39 30 30 30 30 30 20 2D 39 30 30 30 30 30 20 2B 39 30 30 30 30 30 20 31 03
CoLa B	02 02 02 02 00 00 00 2B 73 52 41 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 01 FF F2 44 60 00 0D BB A0 FF F2 44 60 00 0D BB A0 00 01 2E
CoLa B	73 52 41 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 01 FF F2 44 60 00 0D BB A0 FF F2 44 60 00 0D BB A0 00 01

Set interval filter [sWN LFPintervalFilter]

Enables and set up the interval filter. The interval filter reduce the scan output rate by a given factor.

Telegram structure: sWN LFPintervalFilter

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	Reduce the scan output rate by a given factor	String	17		LFPintervalFilter	4C 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72
Variable data 1	Enables/Disables the filter.	Bool	1	Off: On:	0d (00h) +1d (01h)	00 01
Variable Data 2	Only every nth scan is output where n is given by the value of uiReductionFactor.	Uint_32	4		1d…+50d (00 00 00 01h … 00 00 00 32h)	00 00 00 01 … 00 00 00 32

Enables the interval filter an set up to the 3rd scan

Example: sWN LFPintervalFilter

Protocol	Example
CoLa A	<STX>sWN{SPC}LFPintervalFilter{SPC}1{SPC}3<ETX>
CoLa A	<STX>sWN LFPintervalFilter 1 3<ETX>
CoLa A	sWN LFPintervalFilter 1 3
CoLa A	02 73 57 4E 20 4C 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72 20 31 20 33 03
CoLa B	02 02 02 02 00 00 00 1B 73 57 4E 20 4C 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72 20 01 00 00 00 03 0E
CoLa B	73 57 4E 20 4C 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72 20 01 00 00 00 03

Telegram structure: sWA LFPintervalFilter

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	Reduce the scan output rate by a given factor	String	17		LFPintervalFilter	4C 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72

Example: sWA LFPintervalFilter

Protocol	Example
CoLa A	<STX>sWA{SPC}LFPintervalFilter<ETX>
CoLa A	02 73 57 41 20 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72 03
CoLa B	02 02 02 02 00 00 00 16 73 57 41 20 4C 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72 20 00

Set moving averaging filter [sWN LFPmovingAveragingFilter]

Enables the moving average filter

Telegram structure: sWN LFPmovingAveragingFilter

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	String	24		LFPmovingAveragingFilter	4C 46 50 6D 6F 76 69 6E 67 41 76 65 72 61 67 69 6E 67 46 69 6C 74 65 72
Variable Data 1	Moving averaging is enabled	Bool	1	Off: On:	0d (00h) +1d (01h)	00 01
Variable Data 2	averaging depth	UInt	2	Minimum: Maximum:	+2d (02h) +4d (0Ah)	00 02 00 04

Disable the moving average filter and set averaging depth to 3

Example: sWN LFPmovingAveragingFilter +0 +3

Protocol	Example
CoLa A	<STX>sWN{SPC}LFPmovingAveragingFilter{SPC}+0{SPC}+3<ETX>
CoLa A	<STX>sWN LFPmovingAveragingFilter +0 +3<ETX>
CoLa A	sWN LFPmovingAveragingFilter +0 +3
CoLa A	02 73 57 4E 20 4C 46 50 6D 6F 76 69 6E 67 41 76 65 72 61 67 69 6E 67 46 69 6C 74 65 72 20 2B 30 20 2B 33 03
CoLa B	02 02 02 02 00 00 00 20 73 57 4E 20 4C 46 50 6D 6F 76 69 6E 67 41 76 65 72 61 67 69 6E 67 46 69 6C 74 65 72 20 01 00 03 41
CoLa B	73 57 4E 20 4C 46 50 6D 6F 76 69 6E 67 41 76 65 72 61 67 69 6E 67 46 69 6C 74 65 72 20 01 00 03

Telegram structure: sWA LFPmovingAveragingFilter

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	String	24		LFPmovingAveragingFilter	4C 46 50 6D 6F 76 69 6E 67 41 76 65 72 61 67 69 6E 67 46 69 6C 74 65 72

Example: sWA LFPmovingAveragingFilter

Protocol	Example
CoLa A	<STX>sWA{SPC}LFPmovingAveragingFilter<ETX>
CoLa A	02 73 57 41 20 4C 46 50 6D 6F 76 69 6E 67 41 76 65 72 61 67 69 6E 67 46 69 6C 74 65 72 03
CoLa B	02 02 02 02 00 00 00 1D 73 57 41 20 4C 46 50 6D 6F 76 69 6E 67 41 76 65 72 61 67 69 6E 67 46 69 6C 74 65 72 20 4D

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.

Example: sWN LFPradialDistanceRangeFilter

Protocol	Example
CoLa A	<STX>sWN{SPC}LFPradialDistanceRangeFilter{SPC}0{SPC}0{SPC}30D40<ETX>
CoLa A	<STX>sWN LFPradialDistanceRangeFilter 0 0 30D40<ETX>
CoLa A	sWN LFPradialDistanceRangeFilter 0 0 30D40
CoLa A	02 73 57 4E 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 00 20 00 20 30D40 03
CoLa B	02 02 02 02 00 00 00 2A 73 57 4E 20 4C 46 50 72 61 64 69 61 6C 44 69 73 74 61 6E 63 65 52 61 6E 6765 46 69 6C 74 65 72 20 00 00 00 00 00 00 03 0D 40 31
CoLa B	73 57 4E 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 00 00 00 00 00 00 03 0D 40

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

Protocol	Example
CoLa A	<STX>sWA{SPC}LFPradialDistanceRangeFilter<ETX>
CoLa A	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	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

Encoder

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

Protocol	Example
CoLa A	<STX>sWN{SPC}LICencset{SPC}0<ETX>
CoLa A	<STX>sWN LICencset 0<ETX>
CoLa A	sWN LICencset 0
CoLa A	02 73 57 4E 20 4C 49 43 65 6E 63 73 65 74 20 30 03
CoLa B	02 02 02 02 00 00 00 0F 73 57 4E 20 4C 49 43 65 6E 63 73 65 74 20 00 26
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}LICencset<ETX>
CoLa A	02 73 57 41 20 4C 49 43 65 6E 63 73 65 74 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sWN{SPC}LICencres{SPC}+1000<ETX>
CoLa A	<STX>sWN LICencres +1000<ETX>
CoLa A	sWN LICencres +1000
CoLa A	02 73 57 4E 20 4C 49 43 65 6E 63 72 65 73 20 2B 31 30 30 30 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}LICencres<ETX>
CoLa A	02 73 57 41 20 4C 49 43 65 6E 63 72 65 73 03
CoLa B	02 02 02 02 00 00 00 0E 73 57 41 20 4C 49 43 65 6E 63 72 65 73 20 2F

Reset encoder values [sMN LIDrstencoderinc]

Reset current encoder tick value to 0.

Telegram structure: sMN LIDrstencoderinc

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 Encoder values	String	16		LIDrstencoderinc	4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63

Example: sMN LIDrstencoderinc

Protocol	Example
CoLa A	<STX>sMN{SPC}LIDrstencoderinc<ETX>
CoLa A	<STX>sMN LIDrstencoderinc<ETX>
CoLa A	sMN LIDrstencoderinc
CoLa A	02 73 4D 4E 20 4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63 03
CoLa B	02 02 02 02 00 00 00 14 73 4D 4E 20 4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63 74
CoLa B	73 4D 4E 20 4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63

Telegram structure: sAN LIDrstencoderinc

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 Encoder values	String	16		LIDrstencoderinc	4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63
Reset status		Bool_1	1	Successful Failure/ Insufficient user level	0 1	00 01

Example: sAN LIDrstencoderinc

Protocol	Example
CoLa A	<STX>sAN{SPC}LIDrstencoderinc{SPC}0<ETX>
CoLa A	02 73 41 4E 20 4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63 20 30 03
CoLa B	02 02 02 02 00 00 00 16 73 41 4E 20 4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63 20 00 58

Enable encoder reference input 1 signal [sWN LICpos1enable]

This command enables the encoder reference input signal.

Telegram structure: sWN LICpos1enable

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	Enable encoder reference input signal	String	13		LICpos1enable	4C 49 43 70 6F 73 31 65 6E 61 62 6C 65
Variable Data	Disable/ enable	Bool_1	1	Disable: Enable:	0d (00h) +1d (01h)	00 01

Example: sWN LICpos1enable - Enable reference input signal

Protocol	Example
CoLa A	<STX>sWN{SPC}LICpos1enable{SPC}1<ETX>
CoLa A	<STX>sWN LICpos1enable 1<ETX>
CoLa A	sWN LICpos1enable 1
CoLa A	02 73 57 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 31 03
CoLa B	02 02 02 02 00 00 00 13 73 57 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 01 71
CoLa B	73 57 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 01

Telegram structure: sWA LICpos1enable

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	Enable encoder reference input signal	String	13		LICpos1enable	4C 49 43 70 6F 73 31 65 6E 61 62 6C 65

Example: sWA LICpos1enable

Protocol	Example
CoLa A	<STX>sWA{SPC}LICpos1enable<ETX>
CoLa A	02 73 57 41 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 12 73 57 41 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 7F

Read encoder reference input 1 signal [sRN LICpos1enable]

This command reads the state (enabled/ disabled) of the encoder reference input signal.

Telegram structure: sRN LICpos1enable

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	Enable encoder reference input signal	String	13		LICpos1enable	4C 49 43 70 6F 73 31 65 6E 61 62 6C 65

Example: sRN LICpos1enable

Protocol	Example
CoLa A	<STX>sRN{SPC}LICpos1enable<ETX>
CoLa A	<STX>sRN LICpos1enable<ETX>
CoLa A	sRN LICpos1enable
CoLa A	02 73 52 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 11 73 52 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 55
CoLa B	73 52 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65

Telegram structure: sRA LICpos1enable

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	Enable encoder reference input signal	String	13		LICpos1enable	4C 49 43 70 6F 73 31 65 6E 61 62 6C 65
Variable Data	Disabled/ enabled	Bool_1	1	Disabled: Enabled:	0d (00h) +1d (01h)	00 01

Example: sRA LICpos1enable - Encoder reference input signal is enabled

Protocol	Example
CoLa A	<STX>sRA{SPC}LICpos1enable{SPC}1<ETX>
CoLa A	02 73 52 41 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 31 03
CoLa B	02 02 02 02 00 00 00 13 73 52 41 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 01 7B

Enable encoder reference input 2 signal [sWN LICpos2enable]

This command enables the encoder reference input signal.

Telegram structure: sWN LICpos2enable

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	Enable encoder reference input signal	String	13		LICpos2enable	4C 49 43 70 6F 73 32 65 6E 61 62 6C 65
Variable Data	Disable/ enable	Bool_1	1	Disable: Enable:	0d (00h) +1d (01h)	00 01

Example: sWN LICpos2enable - Enable reference input signal

Protocol	Example
CoLa A	<STX>sWN{SPC}LICpos2enable{SPC}1<ETX>
CoLa A	<STX>sWN LICpos2enable 1<ETX>
CoLa A	sWN LICpos2enable 1
CoLa A	02 73 57 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 31 03
CoLa B	02 02 02 02 00 00 00 13 73 57 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 01 72
CoLa B	73 57 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 01

Telegram structure: sWA LICpos2enable

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	Enable encoder reference input signal	String	13		LICpos2enable	4C 49 43 70 6F 73 32 65 6E 61 62 6C 65

Example: sWA LICpos2enable

Protocol	Example
CoLa A	<STX>sWA{SPC}LICpos2enable<ETX>
CoLa A	02 73 57 41 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 12 73 57 41 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 7C

Read encoder reference input 2 signal [sRN LICpos2enable]

This command reads the state (enabled/ disabled) of the encoder reference input signal.

Telegram structure: sRN LICpos2enable

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	Enable encoder reference input signal	String	13		LICpos2enable	4C 49 43 70 6F 73 32 65 6E 61 62 6C 65

Example: sRN LICpos2enable

Protocol	Example
CoLa A	<STX>sRN{SPC}LICpos2enable<ETX>
CoLa A	<STX>sRN LICpos2enable<ETX>
CoLa A	sRN LICpos2enable
CoLa A	02 73 52 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 11 73 52 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 56
CoLa B	73 52 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65

Telegram structure: sRA LICpos2enable

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	Enable encoder reference input signal	String	13		LICpos2enable	4C 49 43 70 6F 73 32 65 6E 61 62 6C 65
Variable Data	Disabled/ enabled	Bool_1	1	Disabled: Enabled:	0d (00h) +1d (01h)	00 01

Example: sRA LICpos2enable - Encoder reference input signal is enabled

Protocol	Example
CoLa A	<STX>sRA{SPC}LICpos2enable{SPC}1<ETX>
CoLa A	02 73 52 41 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 31 03
CoLa B	02 02 02 02 00 00 00 13 73 52 41 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 01 7B

Inputs and Outputs

Read state of the ports [sRN LIDportstate]

LIDportstate has to be available additionally or as successor of the LIDoutputstate telegram.

Valid for all sensors with Ethernet and ports (inputs / outputs).

Telegram structure: sRN LIDportstate

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		LIDportstate	4C 49 44 70 6F 72 74 73 74 61 74 65

Example: sRN LIDportstate

Protocol	Example
CoLa A	<STX>sRN{SPC}LIDportstate<ETX>
CoLa A	<STX>sRN LIDportstate<ETX>
CoLa A	sRN LIDportstate
CoLa A	02 73 52 4E 20 4C 49 44 70 6F 72 74 73 74 61 74 65 03
CoLa B	02 02 02 02 00 00 00 10 73 52 4E 20 4C 49 44 70 6F 72 74 73 74 61 74 65 60
CoLa B	73 52 4E 20 4C 49 44 70 6F 72 74 73 74 61 74 65

Telegram structure: sRA LIDportstate

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	Port state	String	12		LIDportstate	4C 49 44 70 6F 72 74 73 74 61 74 65
Status code	Version number	Uint_16	2	Current version:	0 … FFFFh 0	00 01 … FF FF
Status code	System counter (time in µs since power up max. 71min then starting from 0 again)	Uint_32	4		0 … FFFFFFFFh	00 00 00 00 … FF FF FF FF
ARRAY which defines the number of internal ports*	0...n	Uint_16	2	Hex: Not available: Number of ports:	0000 - FFFF 00 01 ... n	00 00 - FF FF
State of the ports and count value in hex	Internal port state	Enum_8	1	Output voltage low:(Relays open) Output voltage high:(Relays closed) Tri-state: Input voltage high (level):Input voltage from low to high (edge) Input voltage low (level):Input voltage high to low (edge)	00 01 02 03 04	00 01 02 03 04
State of the ports and count value in hex	Internal port counter	Uint_32	4		0 … FFFFFFFFh	00 00 00 00 … FF FF FF FF
	…..
ARRAY which defines the number of external or virtual ports*	0...n	Uint_16	1	Hex: Not available: Number of ports:	00 00 - FF FF 00 01 ... n	00 00 - FF FF
State of the ports and count value in hex	External port state	Enum_8	1	Output voltage low:(Relays open) Output voltage high:(Relays closed) Tri-state: Input voltage high (level):Input voltage from low to high (edge) Input voltage low (level):Input voltage high to low (edge)	00 01 02 03 04	00 01 02 03 04
State of the ports and count value in hex	External port counter	Uint_32	4		0 … FFFFFFFFh	00 00 00 00 … FF FF FF FF
Time	States code	Enum_16	1	No time data: Time data:	00 00 00 01	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

Inputs/outputs: If the device has separate inputs and outputs (instead of general purpose ports) the ARRAY shall start with inputs followed by the outputs.

Virtual ports are ports that can be used to expand the number of ports but are not physically available. They just show up in the corresponding ethernet telegrams (like LIDportstate).

Tri-State: Port is neither input nor output; the port is set inactive in SOPAS

Example: sRA LIDportstate

Protocol	Example
CoLa A	<STX>sRA{SPC}LIDportstate{SPC}0{SPC}3340BBDA{SPC}1{SPC}0{SPC}1{SPC}0{SPC}4{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}1{SPC}7B2{SPC}1{SPC}1{SPC}2{SPC}25{SPC}1D{SPC}C6F98<ETX>
CoLa A	02 73 52 41 20 4C 49 44 70 6F 72 74 73 74 61 74 65 20 30 20 33 33 34 30 42 42 44 41 20 31 20 30 20 31 20 30 20 34 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 31 20 37 42 32 20 31 20 31 20 32 20 32 35 20 31 44 20 43 36 46 39 38 03
CoLa B	02 02 02 02 00 00 00 74 73 52 41 20 4C 49 44 70 6F 72 74 73 74 61 74 65 20 00 00 33 40 BB DA 01 00 00 00 00 01 00 00 00 00 04 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 00 01 07 B2 01 01 02 25 1D 00 0C 6F 98 2E

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

Protocol	Example
CoLa A	<STX>sRN{SPC}PortConfiguration<ETX>
CoLa A	<STX>sRN PortConfiguration<ETX>
CoLa A	sRN PortConfiguration
CoLa A	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	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
CoLa B	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

Example: sRA ProtConfiguration

Protocol	Example
CoLa A	<STX>sRA{SPC}PortConfiguration{SPC}1{SPC}6{SPC}InOut1{SPC}0{SPC}A{SPC}0{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}1{SPC}DRDY{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}1{SPC}6{SPC}InOut2{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}1{SPC}DRDY{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}6{SPC}InOut3{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}6{SPC}InOut4{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}6{SPC}InOut5{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}6{SPC}InOut6{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}1{SPC}6{SPC}InOut7{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}1{SPC}DRDY{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}1{SPC}6{SPC}InOut8{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}1{SPC}DRDY{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0<ETX>
CoLa A	<STX>sRA PortConfiguration 1 6 InOut1 0 A 0 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 1 6 InOut2 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 0 6 InOut3 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 0 6 InOut4 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 0 6 InOut5 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 0 6 InOut6 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 1 6 InOut7 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 1 6 InOut8 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0<ETX>
CoLa A	sRA PortConfiguration 1 6 InOut1 0 A 0 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 1 6 InOut2 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 0 6 InOut3 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 0 6 InOut4 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 0 6 InOut5 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 0 6 InOut6 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0 1 6 InOut7 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 1 6 InOut8 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0
CoLa B	02 02 02 02 00 00 01 7A 73 52 41 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 01 00 06 49 6E 4F 75 74 31 00 00 0A 00 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 32 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 33 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 34 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 35 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 36 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 37 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 38 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 01
CoLa B	73 52 41 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 01 00 06 49 6E 4F 75 74 31 00 00 0A 00 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 32 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 33 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 34 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 35 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 36 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 37 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 38 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00

Set port configuration [sWN PortConfiguration]

Configuration of the given ports. Telegram structure represents the configuration of 1 port.

If the device has multiple ports, use the same structure.

Telegram structure: sWN PortConfiguration

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	Configuration of the given ports	String	17		PortConfiguration	50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E
Port Type	Input or Output	Enum_8	1	Input: Output:	+0d (0h) +1d (1h)	00 01
Name	Name of the port	FlexString	9 (0..32)	Default:	InOut1	00 06 49 6E 4F 75 74 31 00
Input Settings
Logic	Logic of the input	Enum_8	1	Active high: Active low:	+0d (0h) +1d (1h)	00 01
Debounce	Select debouncing time in ms	Uint_8	1		+0d ... +255d (0h … FFh)	00 … FF
Reserved	-	Enum_8	1	Always:	+0d (0h)	00
Reserved1		Uint_16	2		+0d (0h)	00 00
Reserved2		Uint_16	2		+0d (0h)	00 00
Output Settings
Logic	Definition of the output logic	Enum_8	1	Active high: Active low:	+0d (0h) +1d (1h)	00 01
Output Mode	Set kind of mode for output pin	Enum_8	1	PNP: NPN: Push-Pull:	0 1 2	00 01 02
Restart Type	Defines type of restart to be used	Enum_8	1	Immediately: Time:	+0d (0h) +1d (1h)	00 01
Restart Time	[Only with restart type = Time], time in ms	Uint_32	4	(20 ms … 600,000 ms)	+20d … +600000d (C8h ... 927C0h)	00 00 00 00 … 00 09 27 C0
Restart Input	[Only with restart type = Input], input for restart	Uint_16	2		+1d ... +8d (1h ... 8h)	00 00 … 00 08
Combination	Combining multiple Events and/or Inputs	Enum_8	1	AND: OR: XOR:	+0d (0h) +1d (1h) +2d (2h)
Reserved	Reserved value 3	Uint_16	2		+0d (0h)	00 00
Reserved	Reserved value 4	Uint_16	2		+0d (0h)	00 00
	Source
Source	The source parameter are only existing if the port is set to OUTPUT!		2		+1d (1h)	00 01
Source Name	Name of the source option	String	4	DeviceNotReady: Input1: Input2: SopasCommand:	DRDY IN01 IN02 SC01	44 52 44 59 49 4E 30 31 49 4E 30 32 53 43 30 31
Invert	Invert the source signal	Bool_1	1	Not inverted: Inverted:	+0d (0h) +1d (1h)	00 01
Reserved	Reserved value 5	Uint_8	1		+0d (0h)	00
Reserved	Reserved value 6	Uint_8	1		+0d (0h)	00
Reserved
Reserved	Reserved value 7	Uint_16	2		+0d (0h)	00 00
Reserved	Reserved value 8	Uint_16	2		+0d (0h)	00 00
Reserved	Reserved value 9	Uint_16	2		+0d (0h)	00 00
Reserved	Reserved value 10	Uint_16	2		+0d (0h)	00 00

Example: sWN ProtConfiguration

Protocol	Example
CoLa A	<STX>sWN{SPC}PortConfiguration{SPC}1{SPC}6{SPC}InOut1{SPC}0{SPC}A{SPC}0{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}1{SPC}DRDY{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}1{SPC}6{SPC}InOut2{SPC}0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}1{SPC}DRDY{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}6{SPC}InOut3v0{SPC}A{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}C8{SPC}1{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0<ETX>
CoLa A	<STX>sWN PortConfiguration 1 6 InOut1 0 A 0 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 1 6 InOut2 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 0 6 InOut3 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0<ETX>
CoLa A	sWN PortConfiguration 1 6 InOut1 0 A 0 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 1 6 InOut2 0 A 1 0 0 1 0 0 C8 1 1 0 0 1 DRDY 0 0 0 0 0 0 0 0 6 InOut3 0 A 1 0 0 0 0 0 C8 1 1 0 0 0 0 0 0 0
CoLa A	02 73 57 4E 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 31 20 36 20 49 6E 4F 75 74 31 20 30 20 41 20 31 20 30 20 30 20 31 20 30 20 30 20 43 38 20 31 20 31 20 30 20 30 20 31 20 44 52 44 59 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 31 20 36 20 49 6E 4F 75 74 32 20 30 20 41 20 31 20 30 20 30 20 31 20 30 20 30 20 43 38 20 31 20 31 20 30 20 30 20 31 20 44 52 44 59 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 36 20 49 6E 4F 75 74 33 20 30 20 41 20 31 20 30 20 30 20 30 20 30 20 30 20 43 38 20 31 20 31 20 30 20 30 20 30 20 30 20 30 20 30 20 30 03
CoLa B	02 02 02 02 00 00 00 9F 73 57 4E 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 01 00 06 49 6E 4F 75 74 31 00 00 0A 00 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 32 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 33 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 9F
CoLa B	73 57 4E 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 01 00 06 49 6E 4F 75 74 31 00 00 0A 00 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 01 00 06 49 6E 4F 75 74 32 00 00 0A 01 00 00 00 00 01 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 01 44 52 44 59 00 00 00 00 00 00 00 00 00 00 00 00 00 06 49 6E 4F 75 74 33 00 00 0A 01 00 00 00 00 00 00 00 00 00 00 C8 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Telegram structure: sWA PortConfiguration

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	Configuration of the given ports	String	17		PortConfiguration	50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E

Example: sWA PortConfiguration

Protocol	Example
CoLa A	<STX>sWA{SPC}PortConfiguration<ETX>
CoLa A	02 73 57 41 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 03
CoLa B	02 02 02 02 00 00 00 16 73 57 41 20 50 6F 72 74 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 0C

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. Compare with chapter .

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

Protocol	Example
CoLa A	<STX>sRN{SPC}LIDinputstate<ETX>
CoLa A	<STX>sRN LIDinputstate<ETX>
CoLa A	sRN LIDinputstate
CoLa A	02 73 52 4E 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65 03
CoLa B	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
CoLa B	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

Example: sRA LIDinputstate In1 not used, In2 inactive, In3 inactive, In4 not used, In5 not used, In6 not used, In7 not used, In8 not used, time: 1970-01-01 0:13 58.443 sec

Protocol	Example
CoLa A	<STX>sRA{SPC}LIDinputstate{SPC}1{SPC}31F99C10{SPC}2{SPC}0{SPC}0{SPC}2{SPC}2{SPC}2{SPC}2{SPC}2{SPC}1{SPC}7B2{SPC}1{SPC}1{SPC}0{SPC}D{SPC}3A{SPC}6C278<ETX>
CoLa A	02 73 52 41 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65 20 31 20 39 38 45 37 31 42 44 37 20 32 20 30 20 30 20 32 20 32 20 32 20 32 20 32 20 31 20 37 42 32 20 31 20 31 20 30 20 44 20 33 41 20 36 43 32 37 38 03
CoLa B	02 02 02 02 00 00 00 2D 73 52 41 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65 20 00 01 31 F9 9C 10 02 00 00 02 02 02 02 02 00 01 07 B2 01 01 00 0D 3A 00 06 C2 78 5A

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

Protocol	Example
CoLa A	<STX>sRN{SPC}LIDoutputstate<ETX>
CoLa A	<STX>sRN LIDoutputstate<ETX>
CoLa A	sRN LIDoutputstate
CoLa A	02 73 52 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 03
CoLa B	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
CoLa B	73 52 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65

Telegram structure: sRA LIDoutputstate

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Complete telegram structure of the answer .

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

Protocol	Example
CoLa A	<STX>sEN{SPC}LIDoutputstate{SPC}1<ETX>
CoLa A	<STX>sEN LIDoutputstate 1<ETX>
CoLa A	sEN LIDoutputstate 1
CoLa A	02 73 45 4E 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 20 31 03
CoLa B	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
CoLa B	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

Example: sRA LIDoutputstate Out1 active Count 0, Out2 active Count 0, all other Outputs not used, time: 1970-01-01 0:31 38.191 sec

Protocol	Example
CoLa A	<STX>sRA{SPC}LIDoutputstate{SPC}1{SPC}712414B0{SPC}1{SPC}0{SPC}1{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0{SPC}2{SPC}0SPC}1{SPC}7B2{SPC}1{SPC}1{SPC}0{SPC}1F{SPC}26{SPC}2EA18<ETX>
CoLa A	02 73 52 41 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 20 31 20 37 31 32 34 31 34 42 30 20 31 20 30 20 31 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 32 20 30 20 31 20 37 42 32 20 31 20 31 20 30 20 31 46 20 32 36 20 32 45 41 31 38 03
CoLa B	02 02 02 02 00 00 00 4E 73 52 41 20 4C 49 44 6F 75 74 70 75 74 73 74 61 74 65 20 00 01 71 24 14 B0 01 00 00 00 00 01 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 02 00 00 00 00 00 01 07 B2 01 01 00 1F 26 00 02 EA 18 C4

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

Protocol	Example
CoLa A	<STX>sMN{SPC}mDOSetOutput{SPC}1{SPC}1<ETX>
CoLa A	<STX>sMN mDOSetOutput 1 1<ETX>
CoLa A	sMN mDOSetOutput 1 1
CoLa A	02 73 4D 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 31 20 31 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}mDOSetOutput{SPC}1<ETX>
CoLa A	02 73 41 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 31 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sMN{SPC}LIDrstoutpcnt<ETX>
CoLa A	<STX>sMN LIDrstoutpcnt<ETX>
CoLa A	sMN LIDrstoutpcnt
CoLa A	02 73 4D 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}LIDrstoutpcnt{SPC}0<ETX>
CoLa A	02 73 41 4E 20 4C 49 44 72 73 74 6F 75 74 70 63 6E 74 20 30 03
CoLa B	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

Status

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

Protocol	Example
CoLa A	<STX>sRN{SPC}DeviceIdent<ETX>
CoLa A	<STX>sRN DeviceIdent<ETX>
CoLa A	sRN DeviceIdent
CoLa A	02 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 03
CoLa B	02 02 02 02 00 00 00 0F 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 25
CoLa B	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)

Example: sRA DeviceIdent

Protocol	Example
CoLa A	<STX>sRA{SPC}DeviceIdent{SPC}8{SPC}picoScan{SPC}8{SPC}1.2.0.0B<ETX>
CoLa A	02 73 52 41 20 44 65 76 69 63 65 49 64 65 6E 74 20 38 20 70 69 63 6F 53 63 61 6E 20 38 20 31 2E 32 2E 30 2E 30 42 03
CoLa B	02 02 02 02 00 00 00 24 73 52 41 20 44 65 76 69 63 65 49 64 65 6E 74 20 00 08 70 69 63 6F 53 63 61 6E 00 08 31 2E 32 2E 30 2E 30 42 4F

Read version of the application software [sRN FirmwareVersion]

Telegram structure: sRN FirmwareVersion

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 version of the application software	String	15		FirmwareVersion	46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E

Example: sRN FirmwareVersion

Protocol	Example
CoLa A	<STX>sRN{SPC}FirmwareVersion<ETX>
CoLa A	<STX>sRN FirmwareVersion<ETX>
CoLa A	sRN FirmwareVersion
CoLa A	02 73 52 4E 20 46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E 03
CoLa B	02 02 02 02 00 00 00 13 73 52 4E 20 46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E 24
CoLa B	73 52 4E 20 46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E

Telegram structure: sRA FirmwareVersion

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 version of the application software	String	15		FirmwareVersion	46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E
Value	Length of version	Uint_16	2		0 ... 28h	0 ... 28h
Value	Version	String	16		(See example)	(See example)

Example: sRA FirmwareVersion

Protocol	Example
CoLa A	<STX>sRA{SPC}FirmwareVersion{SPC}14{SPC}1.2.0-b.0+1225.523ef<ETX>
CoLa A	02 73 52 41 20 46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E 20 31 34 20 31 2E 32 2E 30 2D 62 2E 30 2B 31 32 32 35 2E 35 32 33 65 66 03
CoLa B	02 02 02 02 00 00 00 2A 73 52 41 20 46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E 20 00 14 31 2E 32 2E 30 2D 62 2E 30 2B 31 32 32 35 2E 35 32 33 65 66 4B

Read the device state [sRN DevSta]

This telegram reads the device state.

Telegram structure: sRN DevSta

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 current device state	String	13		DevSta	44 65 76 53 74 61

Example: sRN DevSta

Protocol	Example
CoLa A	<STX>sRN{SPC}DevSta<ETX>
CoLa A	<STX>sRN DevSta<ETX>
CoLa A	sRN DevSta
CoLa A	02 73 52 4E 20 44 65 76 53 74 61 03
CoLa B	02 02 02 02 00 00 00 0A 73 52 4E 20 44 65 76 53 74 61 5E
CoLa B	73 52 4E 20 44 65 76 53 74 61

Telegram structure: sRA DevSta

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 current device state	String	13		DevSta	44 65 76 53 74 61
Status code	Code number	Enum_8	1	Reserved: Startup: Service mode: Normal operation: Suspended operation: Service recommended: Service required: Recoverable error: Fatal error:	0 1 2 3 4 5 6 7 8	00 01 02 03 04 05 06 07 08

Example: sRA DevSta

Protocol	Example
CoLa A	<STX>sRA{SPC}DevSta{SPC}3<ETX>
CoLa A	02 73 52 41 20 44 65 76 53 74 61 20 33 03
CoLa B	02 02 02 02 00 00 00 0C 73 52 41 20 44 65 76 53 74 61 20 03 72

Receive the device state by event [sEN DevSta]

This telegram reads the device state.

Telegram structure: sEN DevSta

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	Read the current device state	String	13		DevSta	44 65 76 53 74 61

Example: sEN DevSta

Protocol	Example
CoLa A	<STX>sEN{SPC}DevSta<ETX>
CoLa A	<STX>sEN DevSta<ETX>
CoLa A	sEN DevSta
CoLa A	02 73 45 4E 20 44 65 76 53 74 61 03
CoLa B	02 02 02 02 00 00 00 0A 73 45 4E 20 44 65 76 53 74 61 5E
CoLa B	73 45 4E 20 44 65 76 53 74 61

Telegram structure: sSN DevSta

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	Read the current device state	String	13		DevSta	44 65 76 53 74 61
Status code	Code number	Enum_8	1	Reserved: Startup: Service mode: Normal operation: Suspended operation: Service recommended: Service required: Recoverable error: Fatal error:	0 1 2 3 4 5 6 7 8	00 01 02 03 04 05 06 07 08

Example: sSN DevSta

Protocol	Example
CoLa A	<STX>sSN{SPC}DevSta{SPC}3<ETX>
CoLa A	02 73 53 4E 20 44 65 76 53 74 61 20 33 03
CoLa B	02 02 02 02 00 00 00 0C 73 53 4E 20 44 65 76 53 74 61 20 03 72

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

Protocol	Example
CoLa A	<STX>sRN{SPC}SCdevicestate<ETX>
CoLa A	<STX>sRN SCdevicestate<ETX>
CoLa A	sRN SCdevicestate
CoLa A	02 73 52 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sRA{SPC}SCdevicestate{SPC}1<ETX>
CoLa A	02 73 52 41 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 31 03
CoLa B	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

Receive the device state by event [sEN SCdevicestate]

This telegram reads the general device state continuously.

Telegram structure: sEN SCdevicestate

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	Read the device state	String	13		SCdevicestate	53 43 64 65 76 69 63 65 73 74 61 74 65

Example: sEN SCdevicestate

Protocol	Example
CoLa A	<STX>sEN{SPC}SCdevicestate<ETX>
CoLa A	<STX>sEN SCdevicestate<ETX>
CoLa A	sEN SCdevicestate
CoLa A	02 73 45 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 03
CoLa B	02 02 02 02 00 00 00 11 73 45 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 30
CoLa B	73 45 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		sSN	73 53 4E
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: sSN SCdevicestate

Protocol	Example
CoLa A	<STX>sSN{SPC}SCdevicestate{SPC}1<ETX>
CoLa A	02 73 53 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 31 03
CoLa B	02 02 02 02 00 00 00 13 73 53 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 01 1E

Read device order number [sRN OrdNum]

This telegram reads the device order number which corresponds to the SICK part number of the device.

Telegram structure: sRN OrdNum

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 order number	String	6		OrdNum	4F 72 64 4E 75 6D

Example: sRN OrdNum

Protocol	Example
CoLa A	<STX>sRN{SPC}OrdNum<ETX>
CoLa A	<STX>sRN OrdNum<ETX>
CoLa A	sRN OrdNum
CoLa A	02 73 52 4E 20 4F 72 64 4E 75 6D 03
CoLa B	02 02 02 02 00 00 00 0A 73 52 4E 20 4F 72 64 4E 75 6D 40
CoLa B	73 52 4E 20 4F 72 64 4E 75 6D

Telegram structure: sRA OrdNum

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 device order number	String	6		OrdNum	4F 72 64 4E 75 6D
Length	Number of characters of the following order number	Uint_16	2		0h ... 20h	00 00 ... 00 20
Order number	Order number in 7 digits	String	7		0000000 … 9999999	00 00 00 00 00 00 00 … FF FF FF FF FF FF FF

Example: sRA OrdNum 1134610 (Order Number for picoScan150 Pro-1)

Example for picoScan150 Pro-1: sRA OrdNum

Protocol	Example
CoLa A	<STX>sRA{SPC}OrdNum{SPC}7{SPC}1134610<ETX>
CoLa A	02 73 52 41 20 4F 72 64 4E 75 6D 20 37 20 31 31 33 34 36 31 30 03
CoLa B	02 02 02 02 00 00 00 14 73 52 41 20 4F 72 64 4E 75 6D 20 00 07 31 31 33 34 36 31 30 58

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

Protocol	Example
CoLa A	<STX>sRN{SPC}SerialNumber<ETX>
CoLa A	<STX>sRN SerialNumber<ETX>
CoLa A	sRN SerialNumber
CoLa A	02 73 52 4E 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 03
CoLa B	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sRA{SPC}SerialNumber{SPC}8{SPC}23360024<ETX>
CoLa A	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	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

Protocol	Example
CoLa A	<STX>sRN{SPC}DItype<ETX>
CoLa A	<STX>sRN DItype<ETX>
CoLa A	sRN DItype
CoLa A	02 73 52 4E 20 44 49 74 79 70 65 03
CoLa B	02 02 02 02 00 00 00 0A 73 52 4E 20 44 49 74 79 70 65 5A
CoLa B	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:

Protocol	Example
CoLa A	<STX>sRA{SPC}DItype{SPC}B{SPC}picoScan150<ETX>
CoLa A	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	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

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

Protocol	Example
CoLa A	<STX>sRN{SPC}ODoprh<ETX>
CoLa A	<STX>sRN ODoprh<ETX>
CoLa A	sRN ODoprh
CoLa A	02 73 52 4E 20 4F 44 6F 70 72 68 03
CoLa B	02 02 02 02 00 00 00 0A 73 52 4E 20 4F 44 6F 70 72 68 41
CoLa B	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

Protocol	Example
CoLa A	<STX>sRA{SPC}ODoprh{SPC}1B50B<ETX>
CoLa A	02 73 52 41 20 4F 44 6F 70 72 68 20 31 42 35 30 42 03
CoLa B	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 operating hours since last power on [sRN ODopdaily]

Shows the runtime duration since the last power on of the device.

Telegram structure: sRN ODopdaily

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	9		ODopdaily	4F 44 6F 70 64 61 69 6C 79

Example: sRN ODopdaily

Protocol	Example
CoLa A	<STX>sRN{SPC}ODopdaily<ETX>
CoLa A	<STX>sRN ODopdaily<ETX>
CoLa A	sRN ODopdaily
CoLa A	02 73 52 4E 20 4F 44 6F 70 64 61 69 6C 79 03
CoLa B	02 02 02 02 00 00 00 0D 73 52 4E 20 4F 44 6F 70 64 61 69 6C 79 22
CoLa B	73 52 4E 20 4F 44 6F 70 64 61 69 6C 79

Telegram structure: sRA ODopdaily

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 since last power on	String	9		ODopdaily	4F 44 6F 70 64 61 69 6C 79
Value	Operating hours in 1/10 h	Real as float according to IEEE754	4		0h … FFFFFFFFh	00 00 00 00 …FF FF FF FF

Example: sRA ODopdaily

Protocol	Example
CoLa A	<STX>sRA{SPC}ODopdaily{SPC}424772B8<ETX>
CoLa A	02 73 52 41 20 4F 44 6F 70 72 68 20 34 32 34 37 37 32 42 38 03
CoLa B	02 02 02 02 00 00 00 12 73 52 41 20 4F 44 6F 70 72 68 20 42 47 72 B8 D7

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

Protocol	Example
CoLa A	<STX>sRN{SPC}ODpwrc<ETX>
CoLa A	<STX>sRN ODpwrc<ETX>
CoLa A	sRN ODpwrc
CoLa A	02 73 52 4E 20 4F 44 70 77 72 63 03
CoLa B	02 02 02 02 00 00 00 0A 73 52 4E 20 4F 44 70 77 72 63 52
CoLa B	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

Protocol	Example
CoLa A	<STX>sRA{SPC}ODpwrc{SPC}9A<ETX>
CoLa A	02 73 52 41 20 4F 44 70 77 72 63 20 39 41 03
CoLa B	02 02 02 02 00 00 00 0F 73 52 41 20 4F 44 70 77 72 63 20 00 00 00 9A E7

Read temperature [sRN OPcurtmpdev]

With this command the internal temperature of the device can be identified. Please note that it does not give an indication of the current ambient temperature.

Telegram structure: sRN OPcurtmpdev

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 temperature of the device	String	11		OPcurtmpdev	4F 50 63 75 72 74 6D 70 64 65 76

Example: sRN OPcurtmpdev

Protocol	Example
CoLa A	<STX>sRN{SPC}OPcurtmpdev<ETX>
CoLa A	<STX>sRN OPcurtmpdev<ETX>
CoLa A	sRN OPcurtmpdev
CoLa A	02 73 52 4E 20 4F 50 63 75 72 74 6D 70 64 65 76 03
CoLa B	02 02 02 02 00 00 00 0F 73 52 4E 20 4F 50 63 75 72 74 6D 70 64 65 76 2A
CoLa B	73 52 4E 20 4F 50 63 75 72 74 6D 70 64 65 76

Telegram structure: sRA OPcurtmpdev

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 temperature of the device	String	11		OPcurtmpdev	4F 50 63 75 72 74 6D 70 64 65 76
Temperature data	[°C]	Real as float according to IEEE754	4	(-50°C … +100°C)	C2480000h … 42C80000h	C2 48 00 00 … 42 C8 00 00

Example: sRA OPcurtmpdev (35°C)

Example: sRA OPcurtmpdev

Protocol	Example
CoLa A	<STX>sRA{SPC}OPcurtmpdev{SPC}420C0000<ETX>
CoLa A	02 73 52 41 20 4F 50 63 75 72 74 6D 70 64 65 76 20 34 32 30 43 30 30 30 30 03
CoLa B	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

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]

Example: sWN LocationName +9 LongRange

Protocol	Example
CoLa A	<STX>sWN{SPC}LocationName{SPC}+9{SPC}LongRange<ETX>
CoLa A	<STX>sWN LocationName +9 LongRange<ETX>
CoLa A	sWN LocationName +9 LongRange
CoLa A	02 73 57 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 20 39 20 4C 6F 6E 67 52 61 6E 67 65 03
CoLa B	02 02 02 02 00 00 00 1D 73 57 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 20 00 09 4C 6F 6E 67 52 61 6E 67 65 2C
CoLa B	73 57 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 20 00 09 4C 6F 6E 67 52 61 6E 67 65

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

Protocol	Example
CoLa A	<STX>sWA{SPC}LocationName<ETX>
CoLa A	02 73 57 41 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sRN{SPC}LocationName<ETX>
CoLa A	<STX>sRN LocationName<ETX>
CoLa A	sRN LocationName
CoLa A	02 73 52 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65 03
CoLa B	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
CoLa B	73 52 4E 20 4C 6F 63 61 74 69 6F 6E 4E 61 6D 65

Telegram structure: sRA LocationName

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Find complete telegram structure of the answer in

Initiate an acoustic or visual signal for a defined period of time [sMN FindMe]

This command can be used to make the device easier to find.

Telegram structure: sMN FindMe

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	Initiate an acoustic or visual signal	String	11		FindMe	46 69 6E 64 4D 65
Period of time	Duration in seconds	Uint_16	2		0d … 65535d (0h .. FF FF)	00 ... FF FF

Example: sMN FindMe

Protocol	Example
CoLa A	<STX>sMN{SPC}FindMe{SPC}1<ETX>
CoLa A	<STX>sMN FindMe 1<ETX>
CoLa A	sMN FindMe 1
CoLa A	02 73 4D 4E 20 46 69 6E 64 4D 65 20 31 03
CoLa B	02 02 02 02 00 00 00 0D 73 4D 4E 20 46 69 6E 64 4D 65 20 01 7C
CoLa B	73 4D 4E 20 46 69 6E 64 4D 65 20 01

Telegram structure: sAN FindMe

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	Initiate an acoustic or visual signal	String	11		FindMe	46 69 6E 64 4D 65

Example: sAN FindMe

Protocol	Example
CoLa A	<STX>sAN{SPC}Findme<ETX>
CoLa A	02 73 41 4E 20 46 69 6E 64 4D 65 03
CoLa B	02 02 02 02 00 00 00 0B 73 41 4E 20 46 69 6E 64 4D 65 20 71

Read date of last permanent save [sRN DIpara]

This command reads the date at which the last permanent save () was executed.

Telegram structure: sRN DIpara

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 date of last permanent save	String	6		DIpara	44 49 70 61 72 61

Example: sRN DIpara

Protocol	Example
CoLa A	<STX>sRN{SPC}DIpara<ETX>
CoLa A	<STX>sRN DIpara<ETX>
CoLa A	sRN DIpara
CoLa A	02 73 52 4E 20 44 49 70 61 72 61 03
CoLa B	02 02 02 02 00 00 00 4E 73 52 4E 20 44 49 70 61 72 61 40
CoLa B	73 52 4E 20 44 49 70 61 72 61

Telegram structure: sRA DIpara

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 date of last permanent save	String	6		DIpara	44 49 70 61 72 61
Reserved	-	Uint_8	1	Always:	Ah	0A
Date of last permanent save	DD.MM.YYYY	FlexString	10		(see example)	(see example)

Example: sRA DIpara

Protocol	Example
CoLa A	<STX>sRA{SPC}DIpara{SPC}A{SPC}09.01.2024<ETX>
CoLa A	02 73 52 41 20 44 49 70 61 72 61 20 41 20 30 39 2E 30 31 2E 32 30 32 34 03
CoLa B	02 02 02 02 00 00 00 17 73 52 41 20 44 49 70 61 72 61 20 00 0A 30 39 2E 30 31 2E 32 30 32 34 69

Read time of last permanent save [sRN DIparatm]

This command reads the time at which the last permanent save () was executed.

Telegram structure: sRN DIparatm

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 time of last permanent save	String	8		DIparatm	44 49 70 61 72 61 74 6D

Example: sRN DIparatm

Protocol	Example
CoLa A	<STX>sRN{SPC}DIparatm<ETX>
CoLa A	<STX>sRN DIparatm<ETX>
CoLa A	sRN DIparatm
CoLa A	02 73 52 4E 20 44 49 70 61 72 61 74 6D 03
CoLa B	02 02 02 02 00 00 00 4E 73 52 4E 20 44 49 70 61 72 61 74 6D 59
CoLa B	73 52 4E 20 44 49 70 61 72 61 74 6D

Telegram structure: sRA DIparatm

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 time of last permanent save	String	8		DIparatm	44 49 70 61 72 61 74 6D
Reserved	-	Uint_16	2	Always:	5h	00 05
Time of last permanent save	HH:MM	String	5		(see example)	(see example)

Example: sRA DIparatm

Protocol	Example
CoLa A	<STX>sRA{SPC}DIparatm{SPC}5{SPC}12:28<ETX>
CoLa A	02 73 52 41 20 44 49 70 61 72 61 74 6D 20 35 20 31 32 3A 32 38 03
CoLa B	02 02 02 02 00 00 00 14 73 52 41 20 44 49 70 61 72 61 74 6D 20 00 05 31 32 3A 32 38 40

Read the current device temperature alarm status [sRN temperatureAlarmStatus]

Current device temperature alarm status. If true, the configured temperature alarm is active.

Telegram structure: sRN temperatureAlarmStatus

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	Device temperature alarm status	String	22		temperatureAlarmStatus	74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 53 74 61 74 75 73

Example: sRN temperatureAlarmStatus

Protocol	Example
CoLa A	<STX>sRN{SPC}temperatureAlarmStatus<ETX>
CoLa A	<STX>sRN temperatureAlarmStatus<ETX>
CoLa A	sRN temperatureAlarmStatus
CoLa A	02 73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 53 74 61 74 75 73 03
CoLa B	02 02 02 02 00 00 00 1A 73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 53 74 61 74 75 73 44
CoLa B	73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 53 74 61 74 75 73

Telegram structure: sRA temperatureAlarmStatus

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	Device temperature alarm status	String	22		temperatureAlarmStatus	74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 53 74 61 74 75 73
Data	Alarm state	Bool_1	1	Disabled: Enabled:	0d (00h) +1d (01h)	00 ... 01

Example: sRA temperatureAlarmStatus - Temperature alarm status is off. The device runs in the defined temperature range

Protocol	Example
CoLa A	<STX>sRA{SPC}temperatureAlarmStatus{SPC}0<ETX>
CoLa A	02 73 52 41 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 53 74 61 74 75 73 20 30 03
CoLa B	02 02 02 02 00 00 00 1C 73 52 41 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 53 74 61 74 75 73 20 00 6B

Set device temperature alarm configuration [sWN temperatureAlarmConfiguration]

Sets the upper and lower threshold for the temperature alarm status.

Telegram structure: sWN temperatureAlarmConfiguration

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	Device temperature alarm configuration	String	29		temperatureAlarmConfiguration	74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E
Data 1	Upper threshold [°C]	Int_8	1	Default: 55	-128d ... +127d (80h ... 7Fh)	80 ... 7F
Data 2	Lower threshold [°C]	Int_8	1	Default: 50	-128d ... +127d (80h ... 7Fh)	80 ... 7F

Example: sWN temperatureAlarmConfiguration - Set the upper threshold to 55 °C and the lower threshold to 50 °C

Protocol	Example
CoLa A	<STX>sWN{SPC}temperatureAlarmConfiguration{SPC}37{SPC}32<ETX>
CoLa A	<STX>sWN temperatureAlarmConfiguration 37 32<ETX>
CoLa A	sWN temperatureAlarmConfiguration 37 32
CoLa A	02 73 57 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 33 37 20 33 32 03
CoLa B	02 02 02 02 00 00 00 24 73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 37 32 00
CoLa B	73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 37 32

Telegram structure: sWA temperatureAlarmConfiguration

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	Device temperature alarm configuration	String	29		temperatureAlarmConfiguration	74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E

Example: sWA temperatureAlarmConfiguration

Protocol	Example
CoLa A	<STX>sWA{SPC}temperatureAlarmConfiguration<ETX>
CoLa A	02 73 57 41 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E03
CoLa B	02 02 02 02 00 00 00 22 73 57 41 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 0A

Read device temperature alarm configuration [sRN temperatureAlarmConfiguration]

Returns the upper and lower threshold for the temperature alarm status.

Telegram structure: sRN temperatureAlarmConfiguration

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	Device temperature alarm configuration	String	29		temperatureAlarmConfiguration	74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E

Example: sRN temperatureAlarmConfiguration

Protocol	Example
CoLa A	<STX>sRN{SPC}temperatureAlarmConfiguration<ETX>
CoLa A	<STX>sRN temperatureAlarmConfiguration<ETX>
CoLa A	sRN temperatureAlarmConfiguration
CoLa A	02 73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 03
CoLa B	02 02 02 02 00 00 00 21 73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20
CoLa B	73 52 4E 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20

Telegram structure: sRA temperatureAlarmConfiguration

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	Device temperature alarm configuration	String	29		temperatureAlarmConfiguration	74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E
Data 1	Upper threshold [°C]	Int_8	1	Default: 55	-128d ... +127d (80h ... 7Fh)	80 ... 7F
Data 2	Lower threshold [°C]	Int_8	1	Default: 50	-128d ... +127d (80h ... 7Fh)	80 ... 7F

Example: sRA temperatureAlarmConfiguration - 55 °C upper threshold and 50 °C lower threshold

Protocol	Example
CoLa A	<STX>sRA{SPC}temperatureAlarmConfiguration{SPC}37{SPC}32<ETX>
CoLa A	02 73 52 41 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 3337 20 3332 03
CoLa B	02 02 02 02 00 00 00 24 73 52 41 20 74 65 6D 70 65 72 61 74 75 72 65 41 6C 61 72 6D 43 6F 6E 66 69 67 75 72 61 74 69 6F 6E 20 37 32 0A

Interfaces

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

Protocol	Example
CoLa A	<STX>sWN{SPC}EIIpAddr{SPC}C0{SPC}A8{SPC}0{SPC}2<ETX>
CoLa A	<STX>sWN EIIpAddr C0 A8 0 2<ETX>
CoLa A	sWN EIIpAddr C0 A8 0 2
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}EIIpAddr<ETX>
CoLa A	02 73 57 41 20 45 49 49 70 41 64 64 72 03
CoLa B	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

Protocol	Example
CoLa A	<STX>sRN{SPC}EIIpAddr<ETX>
CoLa A	<STX>sRN EIIpAddr<ETX>
CoLa A	sRN EIIpAddr
CoLa A	02 73 52 4E 20 45 49 49 70 41 64 64 72 03
CoLa B	02 02 02 02 00 00 00 0C 73 52 4E 20 45 49 49 70 41 64 64 72 49
CoLa B	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

Example: sRA EIIpAddr 192.168.0.2

Protocol	Example
CoLa A	<STX>sRA{SPC}EIIpAddr{SPC}C0{SPC}A8{SPC}00{SPC}02<ETX>
CoLa A	02 73 57 41 20 45 49 49 70 41 64 64 72 20 C0 20 A8 20 00 20 02 03
CoLa B	02 02 02 02 00 00 00 11 73 52 41 20 45 49 49 70 41 64 64 72 20 C0 A8 00 02 0C

Read IP address assigned by DHCP [sRN EIIpAddrDHCP]

DHCP needs to be set as mode for ethernet assignment.

Telegram structure: sRN EIIpAddrDHCP

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 assigned by DHCP	String	12		EIIpAddrDHCP	45 49 49 70 41 64 64 72 44 48 43 50

Example: srN EIIpAddrDHCP

Protocol	Example
CoLa A	<STX>sRN{SPC}EIIpAddrDHCP<ETX>
CoLa A	<STX>sRN EIIpAddrDHCP<ETX>
CoLa A	sRN EIIpAddrDHCP
CoLa A	02 73 57 4E 20 45 49 49 70 41 64 64 72 44 48 43 50 03
CoLa B	02 02 02 02 00 00 00 10 73 52 4E 20 45 49 49 70 41 64 64 72 44 48 43 50 56
CoLa B	73 52 4E 20 45 49 49 70 41 64 64 72 44 48 43 50

Telegram structure: sRA EIIpAddrDHCP

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 assigned by DHCP	String	12		EIIpAddrDHCP	45 49 49 70 41 64 64 72 44 48 43 50
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

Example: sRA EIIpAddrDHCP 192.168.0.1

Protocol	Example
CoLa A	<STX>sRA{SPC}EIIpAddrDHCP{SPC}C0{SPC}A8{SPC}0{SPC}1<ETX>
CoLa A	02 73 52 41 20 45 49 49 70 41 64 64 72 44 48 43 50 20 43 30 20 41 38 20 30 20 31 03
CoLa B	02 02 02 02 00 00 00 15 73 52 41 20 45 49 49 70 41 64 64 72 44 48 43 50 20 C0 A8 00 01 10

Set mode for ethernet address assignment [sWN EIAddrMode]

This Command determines the mode for the ethernet address assignment.

Telegram structure: sWN EIAddrMode

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 mode for ethernet address assignment	String	10		EIAddrMode	45 49 41 64 64 72 4D 6F 64 65
Ethernet address assignment	Static IP address / DHCP	Enum_8	1	Static: DHCP:	0 1	00 01

Example: sWN EIAddrMode

Protocol	Example
CoLa A	<STX>sWN{SPC}EIAddrMode{SPC}1<ETX>
CoLa A	<STX>sWN EIAddrMode 1<ETX>
CoLa A	sWN EIAddrMode 1
CoLa A	02 73 57 4E 20 45 49 41 64 64 72 4D 6F 64 65 20 31 03
CoLa B	02 02 02 02 00 00 00 4E 73 57 4E 20 45 49 41 64 64 72 4D 6F 64 65 20 01 76
CoLa B	73 57 4E 20 45 49 41 64 64 72 4D 6F 64 65 20 01

Telegram structure: sWA EIAddrMode

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 mode for ethernet address assignment	String	10		EIAddrMode	45 49 41 64 64 72 4D 6F 64 65

Example: sWA EIAddrMode

Protocol	Example
CoLa A	<STX>sWA{SPC}EIAddrMode<ETX>
CoLa A	02 73 57 41 20 45 49 41 64 64 72 4D 6F 64 65 03
CoLa B	02 02 02 02 00 00 00 0F 73 57 41 20 45 49 41 64 64 72 4D 6F 64 65 20 79

Set fallback for DHCP [sWN EIDHCPFallback]

This Command determines the fallback when DHCP is not successful.

Telegram structure: sWN EIDHCPFallback

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 fallback for DHCP	String	14		EIDHCPFallback	45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B
Fallback ethernet address assignment	Use Static IP address / Retry DHCP	Enum_8	1	Static IP address: DHCP retry:	0 1	00 01

Example: sWN EIDHCPFallback

Protocol	Example
CoLa A	<STX>sWN{SPC}EIDHCPFallback{SPC}1<ETX>
CoLa A	<STX>sWN EIDHCPFallback 1<ETX>
CoLa A	sWN EIDHCPFallback 1
CoLa A	02 73 57 4E 20 45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B 20 31 03
CoLa B	02 02 02 02 00 00 00 14 73 57 4E 20 45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B 20 01 54
CoLa B	73 57 4E 20 45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B 20 01

Telegram structure: sWA EIDHCPFallback

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 fallback for DHCP	String	14		EIDHCPFallback	45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B

Example: sWA EIDHCPFallback

Protocol	Example
CoLa A	<STX>sWA{SPC}EIDHCPFallback<ETX>
CoLa A	02 73 57 41 20 45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B 03
CoLa B	02 02 02 02 00 00 00 13 73 57 41 20 45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B 20 5A

Set Ethernet gateway [sWN Elgate]

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 Elgate

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

Protocol	Example
CoLa A	<STX>sWN{SPC}EIgate{SPC}C0{SPC}A8{SPC}00{SPC}01<ETX>
CoLa A	<STX>sWN EIgate C0 A8 00 01<ETX>
CoLa A	sWN EIgate C0 A8 00 01
CoLa A	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	02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 67 61 74 65 20 C0 A8 00 01 18
CoLa B	73 57 4E 20 45 49 67 61 74 65 20 C0 A8 00 01

Telegram structure: sWA Elgate

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

Protocol	Example
CoLa A	<STX>sWA{SPC}EIgate<ETX>
CoLa A	02 73 57 41 20 45 49 67 61 74 65 03
CoLa B	02 02 02 02 00 00 00 0B 73 57 41 20 45 49 67 61 74 65 20 7E

Read Ethernet gateway [sRN Elgate]

Read for the Ethernet gateway (TCP/IP)

Telegram structure: sRN Elgate

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

Protocol	Example
CoLa A	<STX>sRN{SPC}EIgate<ETX>
CoLa A	<STX>sRN EIgate<ETX>
CoLa A	sRN EIgate
CoLa A	02 73 52 4E 20 45 49 67 61 74 65 03
CoLa B	02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 67 61 74 65 54
CoLa B	73 52 4E 20 45 49 67 61 74 65

Telegram structure: sRA Elgate

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

Example: sRA EIgate 192.168.0.1

Protocol	Example
CoLa A	<STX>sRA{SPC}EIgate{SPC}C0{SPC}A8{SPC}00{SPC}01<ETX>
CoLa A	02 73 52 41 20 45 49 67 61 74 65 20 C0 A8 00 01 03
CoLa B	02 02 02 02 00 00 00 0F 73 52 41 20 45 49 67 61 74 65 20 C0 A8 00 01 12

Read ethernet gateway IP address assigned by DHCP [sRN ElgateDHCP]

DHCP needs to be set as mode for ethernet assignment.

Read for the ethernet gateway IP address which was assigned by DHCP.

Telegram structure: sRN ElgateDHCP

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 ethernet gateway IP address assigned by DHCP	String	6		EIgateDHCP	45 49 67 61 74 65 44 48 43 50

Example: sRN EIgate

Protocol	Example
CoLa A	<STX>sRN{SPC}EIgateDHCP<ETX>
CoLa A	<STX>sRN EIgateDHCP<ETX>
CoLa A	sRN EIgateDHCP
CoLa A	02 73 52 4E 20 45 49 67 61 74 65 44 48 43 50 03
CoLa B	02 02 02 02 00 00 00 0E 73 52 4E 20 45 49 67 61 74 65 44 48 43 50 4B
CoLa B	73 52 4E 20 45 49 67 61 74 65 44 48 43 50

Telegram structure: sRA ElgateDHCP

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 ethernet gateway IP address assigned by DHCP	String	6		EIgateDHCP	45 49 67 61 74 65 44 48 43 50
Gateway IP address	Default: 0.0.0.0	Uint_8	1	First part of gateway IP address	0 …+255d (00…FF)	00 … FF
Gateway IP address	Default: 0.0.0.0	Uint_8	1	Second part of gateway IP address	0 …+255d (00…FF)	00 … FF
Gateway IP address	Default: 0.0.0.0	Uint_8	1	Third part of gateway IP address	0 …+255d (00…FF)	00 … FF
Gateway IP address	Default: 0.0.0.0	Uint_8	1	Fourth part of gateway IP address	0 …+255d (00…FF)	00 … FF

Example: sRA ElgateDHCP 0.0.0.0

Protocol	Example
CoLa A	<STX>sRA{SPC}EIgateDHCP{SPC}0{SPC}0{SPC}0{SPC}0<ETX>
CoLa A	02 73 52 41 20 45 49 67 61 74 65 44 48 43 50 20 30 20 30 20 30 20 30 03
CoLa B	02 02 02 02 00 00 00 13 73 52 41 20 45 49 67 61 74 65 44 48 43 50 20 00 00 00 00 64

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

Protocol	Example
CoLa A	<STX>sWN{SPC}EImask{SPC}FF{SPC}FF{SPC}FE{SPC}00<ETX>
CoLa A	<STX>sWN EImask FF FF FE 00<ETX>
CoLa A	sWN EImask FF FF FE 00
CoLa A	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	02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 6D 61 73 6B 20 FF FF FE 00 8C
CoLa B	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

Protocol	Example
CoLa A	<STX>sWA{SPC}EImask<ETX>
CoLa A	02 73 57 41 20 45 49 6D 61 73 6B 03
CoLa B	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 Elmask

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

Protocol	Example
CoLa A	<STX>sRN{SPC}EImask<ETX>
CoLa A	<STX>sRN EImask<ETX>
CoLa A	sRN EImask
CoLa A	02 73 52 4E 20 45 49 6D 61 73 6B 03
CoLa B	02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 6D 61 73 6B 57
CoLa B	73 52 4E 20 45 49 6D 61 73 6B

Telegram structure: sRA Elmask

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

Example: sRA EImask 255.255.254.0

Protocol	Example
CoLa A	<STX>sRA{SPC}EImask{SPC}FF{SPC}FF{SPC}FE{SPC}00<ETX>
CoLa A	02 73 52 41 20 45 49 6D 61 73 6B 20 45 49 6D 61 73 6B 03
CoLa B	02 02 02 02 00 00 00 0F 73 52 41 20 45 49 6D 61 73 6B 20 FF FF FE 00 86

Read IP mask assigned by DHCP [sRN EImaskDHCP]

DHCP needs to be set as mode for ethernet assignment.

Read for the IP mask which was assigned by DHCP.

Telegram structure: sRN EImaskDHCP

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 assigned by DHCP	String	10		EImaskDHCP	45 49 6D 61 73 6B 44 48 43 50

Example: sRN EImaskDHCP

Protocol	Example
CoLa A	<STX>sRN{SPC}EImaskDHCP<ETX>
CoLa A	<STX>sRN EImaskDHCP<ETX>
CoLa A	sRN EImaskDHCP
CoLa A	02 73 52 4E 20 45 49 6D 61 73 6B 44 48 43 50 03
CoLa B	02 02 02 02 00 00 00 0E 73 52 4E 20 45 49 6D 61 73 6B 44 48 43 50 4B
CoLa B	73 52 4E 20 45 49 6D 61 73 6B 44 48 43 50

Telegram structure: sRA EImaskDHCP

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 mask assigned by DHCP	String	10		EImaskDHCP	45 49 6D 61 73 6B 44 48 43 50
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

Example: sRA EImaskDHCP 255.255.255.0

Protocol	Example
CoLa A	<STX>sRA{SPC}EIgateDHCP{SPC}FF{SPC}FF{SPC}FF{SPC}0<ETX>
CoLa A	02 73 52 41 20 45 49 6D 61 73 6B 44 48 43 50 20 46 46 20 46 46 20 46 46 20 30 03
CoLa B	02 02 02 02 00 00 00 13 73 52 41 20 45 49 6D 61 73 6B 44 48 43 50 20 FF FF FF 00 98

Read MAC address [sRN EIMacAdr]

Read the MAC address of the device.

Telegram structure: sRN EIMacAdr

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 MAC address of the device	String	8		EIMacAdr	45 49 4D 61 63 41 64 72

Example: sRN EIMacAdr

Protocol	Example
CoLa A	<STX>sRN{SPC}EIMacAdr<ETX>
CoLa A	<STX>sRN EIMacAdr<ETX>
CoLa A	sRN EIMacAdr
CoLa A	02 73 57 4E 20 45 49 4D 61 63 41 64 72 03
CoLa B	02 02 02 02 00 00 00 0C 73 52 4E 20 45 49 4D 61 63 41 64 72 5B
CoLa B	73 52 4E 20 45 49 4D 61 63 41 64 72

Telegram structure: sRA EIMacAdr

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 MAC address of the device	String	8		EIMacAdr	45 49 4D 61 63 41 64 72
MAC address	Values	Uint_8	1	First part of MAC address	0 …+255d (00…FF)	00 … FF
MAC address	Values	Uint_8	1	Second part of MAC address	0 …+255d (00…FF)	00 … FF
MAC address	Values	Uint_8	1	Third part of MAC address	0 …+255d (00…FF)	00 … FF
MAC address	Values	Uint_8	1	Fourth part of MAC address	0 …+255d (00…FF)	00 … FF
MAC address	Values	Uint_8	1	Fifth part of MAC address	0 …+255d (00…FF)	00 … FF
MAC address	Values	Uint_8	1	Sixth part of MAC address	0 …+255d (00…FF)	00 … FF

Example: sRA EIMacAdr 00:06:77:22:40:EA

Protocol	Example
CoLa A	<STX>sRA{SPC}EIMacAdr{SPC}0{SPC}6{SPC}77{SPC}22{SPC}40{SPC}EA<ETX>
CoLa A	02 73 52 41 20 45 49 4D 61 63 41 64 72 20 30 20 36 20 37 37 20 32 32 20 34 30 20 45 41 03
CoLa B	02 02 02 02 00 00 00 13 73 52 41 20 45 49 4D 61 63 41 64 72 20 00 06 77 22 40 EA 8D

Set device search mode [sWN EtherColaScanMode]

This command configures the Auto IP functionalities (Device search by SICK Enginnering Tools) and the changeability of the IP address. The functionality can reduces the number of open ports to a minimum.

Telegram structure: sWN EtherCoLaScanMode

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 CoLa Scan / AutoIP search settings	String	17		EtherCoLaScanMode	45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65
CoLa Scan / AutoIP search settings	Choose setting	Uint_8	1	IP address can be found/changed without login: IP address can be found/ changed with login: Disable the Auto IP search/ IP change: IP address can be found/changed for 1 min:	0 1 2 3	00 01 02 03

Example: sWN EtherCoLaScanMode 2 - Disable the Auto IP search/ IP change

Protocol	Example
CoLa A	<STX>sWN{SPC}EtherCoLaScanMode{SPC}2<ETX>
CoLa A	<STX>sWN EtherCoLaScanMode 2<ETX>
CoLa A	sWN EtherCoLaScanMode 2
CoLa A	02 73 57 4E 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 20 32 03
CoLa B	02 02 02 02 00 00 00 14 73 57 4E 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 20 02 3B
CoLa B	73 57 4E 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 20 02

Telegram structure: sWA EtherCoLaScanMode

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 CoLa Scan / AutoIP search settings	String	17		EtherCoLaScanMode	45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65

Example: sWA EtherCoLaScanMode

Protocol	Example
CoLa A	<STX>sWA{SPC}EtherCoLaScanMode<ETX>
CoLa A	02 73 57 41 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 03
CoLa B	02 02 02 02 00 00 00 16 73 57 41 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 20 36

Read device search mode [sRN EtherColaScanMode]

This command polls the Auto IP functionalities (Device search by SICK Enginnering Tools) and the IP address changeability settings.

Telegram structure: sRN EtherCoLaScanMode

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write	String	3		sRN	73 52 4E
Command	Read CoLa Scan / AutoIP search settings	String	17		EtherCoLaScanMode	45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65

Example: sRN EtherCoLaScanMode

Protocol	Example
CoLa A	<STX>sRN{SPC}EtherCoLaScanMode<ETX>
CoLa A	<STX>sRN EtherCoLaScanMode<ETX>
CoLa A	sRN EtherCoLaScanMode
CoLa A	02 73 52 4E 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 03
CoLa B	02 02 02 02 00 00 00 15 73 52 4E 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 1C
CoLa B	73 52 4E 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65

Telegram structure: sRA EtherCoLaScanMode

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 CoLa Scan / AutoIP search settings	String	17		EtherCoLaScanMode	45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65
CoLa Scan / AutoIP search settings	Poll setting	Uint_8	1	IP address can be found/changed without login: IP address can be found/ changed with login: Auto IP search/ IP change is disabled: IP address can be found/changed for 1 min:	0 1 2 3	00 01 02 03

Example: sRA EtherCoLaScanMode 3 - IP address can be found/changed for 1 min

Protocol	Example
CoLa A	<STX>sRA{SPC}EtherCoLaScanMode{SPC}3<ETX>
CoLa A	02 73 52 41 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 20 33 03
CoLa B	02 02 02 02 00 00 00 17 73 52 41 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 20 03 30

Enable/ disable CoLa1 interface [sWN EIAuxEnable]

After enabling the CoLa1 interface, use port 2111 for CoLa A and port 2112 for CoLa B.

Telegram structure: sWN EIAuxEnable

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 CoLa1 interface	String	11		EIAuxEnable	45 49 41 75 78 45 6E 61 62 6C 65
CoLa1 interface	Enable/ disable	Bool_1	1	Disable: Enable:	0 1	00 01

Example: sWN EIAuxEnable

Protocol	Example
CoLa A	<STX>sWN{SPC}EIAuxEnable{SPC}1<ETX>
CoLa A	<STX>sWN EIAuxEnable 1<ETX>
CoLa A	sWN EIAuxEnable 1
CoLa A	02 73 57 4E 20 45 49 41 75 78 45 6E 61 62 6C 65 20 31 03
CoLa B	02 02 02 02 00 00 00 11 73 57 4E 20 45 49 41 75 78 45 6E 61 62 6C 65 20 01 0A
CoLa B	73 57 4E 20 45 49 41 75 78 45 6E 61 62 6C 65 20 01

Telegram structure: sWA EIAuxEnable

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 CoLa1 interface	String	11		EIAuxEnable	45 49 41 75 78 45 6E 61 62 6C 65

Example: sWA EIAuxEnable

Protocol	Example
CoLa A	<STX>sWA{SPC}EIAuxEnable<ETX>
CoLa A	02 73 57 41 20 45 49 41 75 78 45 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 10 73 57 41 20 45 49 41 75 78 45 6E 61 62 6C 65 20 04

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

Example: sMN SetWebserverEnabled

Protocol	Example
CoLa A	<STX>sMN{SPC}SetWebserverEnabled{SPC}1<ETX>
CoLa A	<STX>sMN SetWebserverEnabled 1<ETX>
CoLa A	sMN SetWebserverEnabled 1
CoLa A	02 73 4D 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	02 02 02 02 00 00 00 19 73 4D 4E 20 53 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 20 01 23
CoLa B	73 4D 4E 20 53 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 20 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

Example: sAN SetWebserverEnabled

Protocol	Example
CoLa A	<STX>sAN{SPC}SetWebserverEnabled<ETX>
CoLa A	02 73 41 4E 20 47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 03
CoLa B	02 02 02 02 00 00 00 18 73 41 4E 20 47 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 2E

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

Protocol	Example
CoLa A	<STX>sMN{SPC}GetWebserverEnabled<ETX>
CoLa A	<STX>sMN GetWebserverEnabled<ETX>
CoLa A	sMN GetWebserverEnabled
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}GetWebserverEnabled{SPC}1<ETX>
CoLa A	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	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

Apply configured ethernet settings [sMN mEthUpdt]

Apply the configured ethernet settings.

Telegram structure: sMN mEthUpdt

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	Apply ethernet settings	String	8		mEthUpdt	6D 45 74 68 55 70 64 74

Example: sMN mEthUpdt

Protocol	Example
CoLa A	<STX>sMN{SPC}mEthUpdt<ETX>
CoLa A	<STX>sMN mEthUpdt<ETX>
CoLa A	sMN mEthUpdt
CoLa A	02 73 4D 4E 20 6D 45 74 68 55 70 64 74 03
CoLa B	02 02 02 02 00 00 00 0C 73 4D 4E 20 6D 45 74 68 55 70 64 74 51
CoLa B	73 4D 4E 20 6D 45 74 68 55 70 64 74

Telegram structure: sAN mEthUpdt

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	Apply ethernet settings	String	8		mEthUpdt	6D 45 74 68 55 70 64 74

Example: sAN mEthUpdt

Protocol	Example
CoLa A	<STX>sAN{SPC}mEthUpdt<ETX>
CoLa A	02 73 41 4E 20 6D 45 74 68 55 70 64 74 03
CoLa B	02 02 02 02 00 00 00 0D 73 41 4E 20 6D 45 74 68 55 70 64 74 20 7D

Enable/ disable LEDs [sWN LEDEnable]

This command enables/ disables the LEDs of the device.

Telegram structure: sWN LEDEnable

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sWN	73 57 4E
Command	Set LEDs	String	9		LEDEnable	4C 45 44 45 6E 61 62 6C 65
Status	Enable/ disable	Bool_1	1	Off: On:	0 1	00 01

Example: sWN LEDEnable

Protocol	Example
CoLa A	<STX>sWN{SPC}LEDEnable{SPC}1<ETX>
CoLa A	<STX>sWN LEDEnable 1<ETX>
CoLa A	sWN LEDEnable 1
CoLa A	02 73 57 4E 20 4C 45 44 45 6E 61 62 6C 65 20 31 03
CoLa B	02 02 02 02 00 00 00 0F 73 57 4E 20 4C 45 44 45 6E 61 62 6C 65 20 01 07
CoLa B	73 57 4E 20 4C 45 44 45 6E 61 62 6C 65 20 01

Telegram structure: sWA LEDEnable

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 LEDs	String	9		LEDEnable	4C 45 44 45 6E 61 62 6C 65

Example: sWA LEDEnable

Protocol	Example
CoLa A	<STX>sWA{SPC}LEDEnable<ETX>
CoLa A	02 73 57 41 20 4C 45 44 45 6E 61 62 6C 65 03
CoLa B	02 02 02 02 00 00 00 0E 73 57 41 20 73 57 41 20 4C 45 44 45 6E 61 62 6C 65 20 09

Read state of LEDs [sRN LEDState]

Read the current state of the LEDs.

Telegram structure: sRN LEDState

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method	String	3		sRN	73 52 4E
Command	Read state of LEDs	String	8		LEDState	4C 45 44 53 74 61 74 65

Example: sRN LEDState

Protocol	Example
CoLa A	<STX>sRN{SPC}LEDState<ETX>
CoLa A	<STX>sRN LEDState<ETX>
CoLa A	sRN LEDState
CoLa A	02 73 52 4E 20 4C 45 44 53 74 61 74 65 03
CoLa B	02 02 02 02 00 00 00 0C 73 52 4E 20 4C 45 44 53 74 61 74 65 55
CoLa B	73 52 4E 20 4C 45 44 53 74 61 74 65

Telegram structure: sRA LEDState

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	State of LEDs	String	8		LEDState	4C 45 44 53 74 61 74 65
LED Color	-	Enum_8	1	Green: Yellow: Red:	0 1 2	00 01 02
LED behavior	-	Enum_8	1	On: Off: Blinking: Blinking fast: Blinking delayed: Find me active ():	0 1 2 3 4 5	00 01 02 03 04 05
LED ID	Name of the LED	String	8		LED1 LED2	4C 45 44 31 4C 45 44 32

Example: sRA LEDState

Protocol	Example
CoLa A	<STX>sRA{SPC}LEDState{SPC}2{SPC}0{SPC}0{SPC}LED2{SPC}0{SPC}0{SPC}0{SPC}0{SPC}1{SPC}0{SPC}LED1{SPC}0{SPC}0{SPC}0{SPC}0<ETX>
CoLa A	02 73 52 41 20 4C 45 44 53 74 61 74 65 20 32 20 30 20 30 20 4C 45 44 32 00 00 00 00 20 31 20 30 20 4C 45 44 31 00 00 00 00 03
CoLa B	02 02 02 02 00 00 00 23 73 52 41 20 4C 45 44 53 74 61 74 65 20 00 02 00 00 4C 45 44 32 00 00 00 00 01 00 4C 45 44 31 00 00 00 00 7A

Set the port number for CoLa ASCII TCP/IP [sWN EIAuxPort]

Set the port number for CoLa ASCII TCP/IP (e.g. LMDscandata).

Telegram structure: sWN EIAuxPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write request	String	3		sWN	73 57 4E
Variable name	EIAuxPort	String	9		EIAuxPort	45 49 41 75 78 50 6F 72 74
Value	TCP port for CoLa ASCII communication	UInt_16	2		+2111	08 3F

Example: sWN EIAuxPort

Protocol	Example
CoLa A	<STX>sWN{SPC}EIAuxPort{SPC}+2111<ETX>
CoLa A	<STX>sWN EIAuxPort +2111<ETX>
CoLa A	sWN EIAuxPort +2111
CoLa A	02 73 57 4E 20 45 49 41 75 78 50 6F 72 74 20 2B 32 31 31 31 03
CoLa B	02 02 02 02 00 00 00 10 73 57 4E 20 45 49 41 75 78 50 6F 72 74 20 08 3F 24
CoLa B	73 57 4E 20 45 49 41 75 78 50 6F 72 74 20 08 3F

Telegram structure: sWA EIAuxPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write answer	String	3		sWA	73 57 41
Variable name	Echo of variable name	String	9		EIAuxPort	45 49 41 75 78 50 6F 72 74

Example: sWA EIAuxPort

Protocol	Example
CoLa A	<STX>sWA{SPC}EIAuxPort<ETX>
CoLa A	02 73 57 41 20 45 49 41 75 78 50 6F 72 74 03
CoLa B	02 02 02 02 00 00 00 0D 73 57 41 20 45 49 41 75 78 50 6F 72 74 3C

Read the port number for CoLa ASCII TCP/IP [sRN EIAuxPort]

Returns the port number for CoLa ASCII TCP/IP (e.g. LMDscandata).

Telegram structure: sRN EIAuxPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read request	String	3		sRN	73 52 4E
Variable name	EIAuxPort	String	9		EIAuxPort	45 49 41 75 78 50 6F 72 74

Example: sRN EIAuxPort

Protocol	Example
CoLa A	<STX>sRN{SPC}EIAuxPort<ETX>
CoLa A	<STX>sRN EIAuxPort<ETX>
CoLa A	sRN EIAuxPort
CoLa A	02 73 52 4E 20 45 49 41 75 78 50 6F 72 74 03
CoLa B	02 02 02 02 00 00 00 0D 73 52 4E 20 45 49 41 75 78 50 6F 72 74 36
CoLa B	73 52 4E 20 45 49 41 75 78 50 6F 72 74

Telegram structure: sRA EIAuxPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read answer	String	3		sRA	73 52 41
Variable name	EIAuxPort	String	9		EIAuxPort	45 49 41 75 78 50 6F 72 74
Value	TCP port for CoLa ASCII communication	UInt_16	2		+2111	08 3F

Example: sRA EIAuxPort

Protocol	Example
CoLa A	<STX>sRA{SPC}EIAuxPort{SPC}+2111<ETX>
CoLa A	02 73 52 41 20 45 49 41 75 78 50 6F 72 74 20 2B 32 31 31 31 03
CoLa B	02 02 02 02 00 00 00 10 73 52 41 20 45 49 41 75 78 50 6F 72 74 20 08 3F 2E

Set the port number for CoLa Binary TCP/IP [sWN EIHstPort]

Set the port number for CoLa Binary TCP/IP (e.g. LMDscandata).

Telegram structure: sWN EIHstPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write request	String	3		sWN	73 57 4E
Variable name	EIHstPort	String	9		EIHstPort	45 49 48 73 74 50 6F 72 74
Value	TCP port for CoLa Binary communication	UInt_16	2		+2112	08 40

Example: sWN EIHstPort

Protocol	Example
CoLa A	<STX>sWN{SPC}EIHstPort{SPC}+2112<ETX>
CoLa A	<STX>sWN EIHstPort +2112<ETX>
CoLa A	sWN EIHstPort +2112
CoLa A	02 73 57 4E 20 45 49 48 73 74 50 6F 72 74 20 2B 32 31 31 32 03
CoLa B	02 02 02 02 00 00 00 10 73 57 4E 20 45 49 48 73 74 50 6F 72 74 20 08 40 58
CoLa B	73 57 4E 20 45 49 48 73 74 50 6F 72 74 20 08 40

Telegram structure: sWA EIHstPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write answer	String	3		sWA	73 57 41
Variable name	Echo of variable name	String	9		EIHstPort	45 49 48 73 74 50 6F 72 74

Example: sWA EIHstPort

Protocol	Example
CoLa A	<STX>sWA{SPC}EIHstPort<ETX>
CoLa A	02 73 57 41 20 45 49 48 73 74 50 6F 72 74 03
CoLa B	02 02 02 02 00 00 00 0D 73 57 41 20 45 49 48 73 74 50 6F 72 74 3F

Read the port number for CoLa Binary TCP/IP [sRN EIHstPort]

Returns the port number for CoLa Binary TCP/IP (e.g. LMDscandata).

Telegram structure: sRN EIHstPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read request	String	3		sRN	73 52 4E
Variable name	EIHstPort	String	9		EIHstPort	45 49 48 73 74 50 6F 72 74

Example: sRN EIHstPort

Protocol	Example
CoLa A	<STX>sRN{SPC}EIHstPort<ETX>
CoLa A	<STX>sRN EIHstPort<ETX>
CoLa A	sRN EIHstPort
CoLa A	02 73 52 4E 20 45 49 48 73 74 50 6F 72 74 03
CoLa B	02 02 02 02 00 00 00 0D 73 52 4E 20 45 49 48 73 74 50 6F 72 74 35
CoLa B	73 52 4E 20 45 49 48 73 74 50 6F 72 74

Telegram structure: sRA EIHstPort

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read answer	String	3		sRA	73 52 41
Variable name	EIHstPort	String	9		EIHstPort	45 49 48 73 74 50 6F 72 74
Value	TCP port for CoLa Binary communication	UInt_16	2		+2112	08 40

Example: sRA EIHstPort

Protocol	Example
CoLa A	<STX>sRA{SPC}EIHstPort{SPC}+2112<ETX>
CoLa A	02 73 52 41 20 45 49 48 73 74 50 6F 72 74 20 2B 32 31 31 32 03
CoLa B	02 02 02 02 00 00 00 10 73 52 41 20 45 49 48 73 74 50 6F 72 74 20 08 40 52

Enable cloning plug functionality [sWN enableCloningPlug]

Enables or disables the cloning plug functionality.

Telegram structure: sWN enableCloningPlug

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write request	String	3		sWN	73 57 4E
Variable name	enableCloningPlug	String	17		enableCloningPlug	65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67
Value	Enable/ disable cloning plug functionality	Bool_1	1	Disable: Enable:	0 1	00 01

Example: sWN enableCloningPlug

Protocol	Example
CoLa A	<STX>sWN{SPC}enableCloningPlug{SPC}1<ETX>
CoLa A	<STX>sWN enableCloningPlug 1<ETX>
CoLa A	sWN enableCloningPlug 1
CoLa A	02 73 57 4E 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 20 31 03
CoLa B	02 02 02 02 00 00 00 17 73 57 4E 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 20 01 0A
CoLa B	73 57 4E 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 20 01

Telegram structure: sWA enableCloningPlug

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Write answer	String	3		sWA	73 57 41
Variable name	Echo of variable name	String	17		enableCloningPlug	65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67

Example: sWA enableCloningPlug

Protocol	Example
CoLa A	<STX>sWA{SPC}enableCloningPlug<ETX>
CoLa A	02 73 57 41 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 03
CoLa B	02 02 02 02 00 00 00 15 73 57 41 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 24

Read cloning plug functionality [sRN enableCloningPlug]

Check if the cloning plug functionality is enabled.

Telegram structure: sRN enableCloningPlug

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read request	String	3		sRN	73 52 4E
Variable name	enableCloningPlug	String	17		enableCloningPlug	65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67

Example: sRN enableCloningPlug

Protocol	Example
CoLa A	<STX>sRN{SPC}enableCloningPlug<ETX>
CoLa A	<STX>sRN enableCloningPlug<ETX>
CoLa A	sRN enableCloningPlug
CoLa A	02 73 52 4E 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 03
CoLa B	02 02 02 02 00 00 00 15 73 52 4E 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 2E
CoLa B	73 52 4E 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67

Telegram structure: sRA enableCloningPlug

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read answer	String	3		sRA	73 52 41
Variable name	enableCloningPlug	String	17		enableCloningPlug	65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67
Value	Cloning plug functionality disabled / enabled	Bool_1	1	Disabled: Enabled:	0 1	00 01

Example: sRA enableCloningPlug

Protocol	Example
CoLa A	<STX>sRA{SPC}enableCloningPlug{SPC}1<ETX>
CoLa A	02 73 52 41 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 20 31 03
CoLa B	02 02 02 02 00 00 00 17 73 52 41 20 65 6E 61 62 6C 65 43 6C 6F 6E 69 6E 67 50 6C 75 67 20 01 00

Application

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

Protocol	Example
CoLa A	<STX>sMN{SPC}ActivateEvaluationGroup{SPC}1{SPC}1{SPC}0<ETX>
CoLa A	<STX>sMN ActivateEvaluationGroup 1 1 0<ETX>
CoLa A	sMN ActivateEvaluationGroup 1 1 0
CoLa A	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	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
CoLa B	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

Example2: sMN ActivateEvaluationGroup - Deactivate evaluation group 1, activate evaluation group 2 and 3

Protocol	Example
CoLa A	<STX>sMN{SPC}ActivateEvaluationGroup{SPC}3{SPC}1{SPC}0{SPC}2{SPC}1{SPC}3{SPC}1<ETX>
CoLa A	<STX>sMN ActivateEvaluationGroup 3 1 0 2 1 3 1<ETX>
CoLa A	sMN ActivateEvaluationGroup 3 1 0 2 1 3 1
CoLa A	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 33 20 31 20 30 20 32 20 31 20 33 20 31 03
CoLa B	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 03 00 01 00 00 02 01 00 03 01 23
CoLa B	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 03 00 01 00 00 02 01 00 03 01

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

Example 1: sAN ActivateEvaluation - Successfully deactivated evaluation group 1

Protocol	Example
CoLa A	<STX>sAN{SPC}ActivateEvaluation{SPC}1{SPC}1<ETX>
CoLa A	02 73 41 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 03
CoLa B	02 02 02 02 00 00 00 1F 73 41 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 01 2C

Example 2: sAN ActivateEvaluation - Successfully deactivated evaluation group 1, successfully activated evaluation group 2, failed activation of evaluation group 3

Protocol	Example
CoLa A	<STX>sAN{SPC}ActivateEvaluation{SPC}3{SPC}1{SPC}1{SPC}0<ETX>
CoLa A	02 73 41 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 31 20 30 03
CoLa B	02 02 02 02 00 00 00 1A 73 41 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 03 01 01 00 73

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

Protocol	Example
CoLa A	<STX>sRN{SPC}EvaluationGroupType<ETX>
CoLa A	<STX>sRN EvaluationGroupType<ETX>
CoLa A	sRN EvaluationGroupType
CoLa A	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	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
CoLa B	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

Example: sRA EvaluationGroupType - 3rd group is set as perpendicular distance

Protocol	Example
CoLa A	<STX>sRA{SPC}EvaluationGroupType{SPC}0{SPC}0{SPC}1{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0<ETX>
CoLa A	02 73 52 41 20 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 54 79 70 65 20 30 20 30 20 31 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 03
CoLa B	02 02 02 02 00 00 00 48 73 52 41 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 20 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30

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

Protocol	Example
CoLa A	<STX>sMN{SPC}SetFieldEvaluationContour{SPC}1{SPC}4{SPC}+2000{SPC}+1000{SPC}+0{SPC}+1000{SPC}+0{SPC}+0{SPC}+2000{SPC}+0{SPC}+0{SPC}+0<ETX>
CoLa A	<STX>sMN SetFieldEvaluationContour 1 4 +2000 +1000 +0 +1000 +0 +0 +2000 +0 +0 +0<ETX>
CoLa A	sMN SetFieldEvaluationContour 1 4 +2000 +1000 +0 +1000 +0 +0 +2000 +0 +0 +0
CoLa A	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	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
CoLa B	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

Protocol	Example
CoLa A	<STX>sAN{SPC}SetFieldEvaluationContour{SPC}0<ETX>
CoLa A	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	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: sMN GetFieldEvaluationContour

Protocol	Example
CoLa A	<STX>sMN{SPC}GetFieldEvaluationContour{SPC}1<ETX>
CoLa A	<STX>sMN GetFieldEvaluationContour 1<ETX>
CoLa A	sMN GetFieldEvaluationContour 1
CoLa A	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 01 0D
CoLa B	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 01

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

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

Protocol	Example
CoLa A	<STX>sRN{SPC}FieldEvaluationResult<ETX>
CoLa A	<STX>sRN FieldEvaluationResult<ETX>
CoLa A	sRN FieldEvaluationResult
CoLa A	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	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
CoLa B	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

Example: sRA FieldEvaluationResult - field 1 is infringed, field 2 is free

Protocol	Example
CoLa A	<STX>sRA{SPC}FieldEvaluationResult{SPC}1{SPC}1D869664{SPC}4{SPC}0{SPC}2{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0<ETX>
CoLa A	02 73 52 41 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 20 31 20 31 44 38 36 39 36 36 34 20 34 20 30 20 32 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 03
CoLa B	02 02 02 02 00 00 00 B4 73 52 41 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 20 00 01 00 00 00 00 1D 86 96 64 04 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 53

Receive field evaluation result by event [sEN FieldEvaluationResult]

This telegram returns the status information of all evaluations.

Telegram structure: sEN FieldEvaluationResult

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	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
Reporting	Start/ stop	Enum_8	1	Stop: Start:	0 1	00 01

Example: sEN FieldEvaluationResult

Protocol	Example
CoLa A	<STX>sEN{SPC}FieldEvaluationResult{SPC}1<ETX>
CoLa A	<STX>sEN FieldEvaluationResult 1<ETX>
CoLa A	sEN FieldEvaluationResult 1
CoLa A	02 73 45 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 20 31 03
CoLa B	02 02 02 02 00 00 00 1B 73 45 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 20 01 24
CoLa B	73 45 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 20 01

Telegram structure: sSN FieldEvaluationResult

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	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 latest 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

Example: sSN FieldEvaluationResult - field 1 is infringed, field 2 is free

Protocol	Example
CoLa A	<STX>sSN{SPC}FieldEvaluationResult{SPC}1{SPC}1D869664{SPC}4{SPC}0{SPC}2{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0{SPC}0<ETX>
CoLa A	02 73 53 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 20 31 20 31 44 38 36 39 36 36 34 20 34 20 30 20 32 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 20 30 03
CoLa B	02 02 02 02 00 00 00 B4 73 53 4E 20 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 52 65 73 75 6C 74 20 00 01 00 00 00 00 1D 86 96 64 04 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 53

Start Teach-In [sMN StartTeachIn]

Start teach-in of the environment.

Telegram structure: sMN StartTeachIn

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method invocation	String	3		sMN	73 4D 4E
Method name	StartTeachIn	String	12		StartTeachIn	53 74 61 72 74 54 65 61 63 68 49 6E

Example: sMN StartTeachIn

Protocol	Example
CoLa A	<STX>sMN{SPC}StartTeachIn<ETX>
CoLa A	<STX>sMN StartTeachIn<ETX>
CoLa A	sMN StartTeachIn
CoLa A	02 73 4D 4E 20 53 74 61 72 74 54 65 61 63 68 49 6E 03
CoLa B	02 02 02 02 00 00 00 10 73 4D 4E 20 53 74 61 72 74 54 65 61 63 68 49 6E 6C
CoLa B	73 4D 4E 20 53 74 61 72 74 54 65 61 63 68 49 6E

Telegram structure: sAN StartTeachIn

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method answer	String	3		sAN	73 41 4E
Method name	Echo of method name	String	12		StartTeachIn	53 74 61 72 74 54 65 61 63 68 49 6E

Example: sAN StartTeachIn

Protocol	Example
CoLa A	<STX>sAN{SPC}StartTeachIn<ETX>
CoLa A	02 73 41 4E 20 53 74 61 72 74 54 65 61 63 68 49 6E 03
CoLa B	02 02 02 02 00 00 00 11 73 41 4E 20 53 74 61 72 74 54 65 61 63 68 49 6E 20 40

Stop Teach-In [sMN StopTeachIn]

Stop teach-in of the environment.

Telegram structure: sMN StopTeachIn

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method invocation	String	3		sMN	73 4D 4E
Method name	StopTeachIn	String	11		StopTeachIn	53 74 6F 70 54 65 61 63 68 49 6E

Example: sMN StopTeachIn

Protocol	Example
CoLa A	<STX>sMN{SPC}StopTeachIn<ETX>
CoLa A	<STX>sMN StopTeachIn<ETX>
CoLa A	sMN StopTeachIn
CoLa A	02 73 4D 4E 20 53 74 6F 70 54 65 61 63 68 49 6E 03
CoLa B	02 02 02 02 00 00 00 0F 73 4D 4E 20 53 74 6F 70 54 65 61 63 68 49 6E 14
CoLa B	73 4D 4E 20 53 74 6F 70 54 65 61 63 68 49 6E

Telegram structure: sAN StopTeachIn

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method answer	String	3		sAN	73 41 4E
Method name	Echo of method name	String	11		StopTeachIn	53 74 6F 70 54 65 61 63 68 49 6E

Example: sAN StopTeachIn

Protocol	Example
CoLa A	<STX>sAN{SPC}StopTeachIn<ETX>
CoLa A	02 73 41 4E 20 53 74 6F 70 54 65 61 63 68 49 6E 03
CoLa B	02 02 02 02 00 00 00 10 73 41 4E 20 53 74 6F 70 54 65 61 63 68 49 6E 20 38

Perpendicular Distance

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

Protocol	Example
CoLa A	<STX>sRN{SPC}perpendicularDistanceResult<ETX>
CoLa A	<STX>sRN perpendicularDistanceResult<ETX>
CoLa A	sRN perpendicularDistanceResult
CoLa A	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	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
CoLa B	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

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

Protocol	Example
CoLa A	<STX>sEN{SPC}perpendicularDistanceResult{SPC}1<ETX>
CoLa A	<STX>sEN perpendicularDistanceResult 1<ETX>
CoLa A	sEN perpendicularDistanceResult 1
CoLa A	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	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
CoLa B	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

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

Detection History

Enable Detection History Logging [sWN EnableDetectionHistory]

Enables or disables the detection history logging.

Telegram structure: sWN EnableDetectionHistory

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type		String	3		sWN	73 57 4E
Command	EnableDetectionHistory	String	22		EnableDetectionHistory	45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79
Detection history logging	Enable/ Disable	Bool_1	1	Disable: Enable:	0 1	00 01

Example: sWN EnableDetectionHistory

Protocol	Example
CoLa A	<STX>sWN{SPC}EnableDetectionHistory{SPC}1<ETX>
CoLa A	<STX>sWN EnableDetectionHistory 1<ETX>
CoLa A	sWN EnableDetectionHistory 1
CoLa A	02 73 57 4E 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 20 31 03
CoLa B	02 02 02 02 00 00 00 1C 73 52 4E 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 20 01 47
CoLa B	73 52 4E 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 20 01

Telegram structure: sWA EnableDetectionHistory

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	EnableDetectionHistory	String	22		EnableDetectionHistory	45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79

Example: sWA EnableDetectionHistory

Protocol	Example
CoLa A	<STX>sWA{SPC}EnableDetectionHistory<ETX>
CoLa A	02 73 57 41 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 03
CoLa B	02 02 02 02 00 00 00 1A 73 52 41 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 69

Read Detection History Logging state [sRN EnableDetectionHistory]

Reads whether the detection history logging is enabled or disabled.

Telegram structure: sRN EnableDetectionHistory

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type		String	3		sRN	73 52 4E
Command	EnableDetectionHistory	String	22		EnableDetectionHistory	45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79

Example: sRN EnableDetectionHistory

Protocol	Example
CoLa A	<STX>sRN{SPC}EnableDetectionHistory<ETX>
CoLa A	<STX>sRN EnableDetectionHistory<ETX>
CoLa A	sRN EnableDetectionHistory
CoLa A	02 73 52 4E 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 03
CoLa B	02 02 02 02 00 00 00 1A 73 52 4E 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 63
CoLa B	73 52 4E 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79

Telegram structure: sRA EnableDetectionHistory

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	EnableDetectionHistory	String	22		EnableDetectionHistory	45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79
Detection history logging	Enabled/ Disabled	Bool_1	1	Disabled: Enabled:	0 1	00 01

Example: sRA EnableDetectionHistory

Protocol	Example
CoLa A	<STX>sRA{SPC}EnableDetectionHistory{SPC}1<ETX>
CoLa A	02 73 52 41 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 20 31 03
CoLa B	02 02 02 02 00 00 00 1C 73 52 41 20 45 6E 61 62 6C 65 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 20 01 4D

Reset Detection History Logging [sMN ResetDetectionHistory]

Deletes all entries in the field evaluation logging list.

Telegram structure: sMN ResetDetectionHistory

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method invocation	String	3		sMN	73 4D 4E
Method name	ResetDetectionHistory	String	21		ResetDetectionHistory	52 65 73 65 74 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79

Example: sMN ResetDetectionHistory

Protocol	Example
CoLa A	<STX>sMN{SPC}ResetDetectionHistory<ETX>
CoLa A	<STX>sMN ResetDetectionHistory<ETX>
CoLa A	sMN ResetDetectionHistory
CoLa A	02 73 4D 4E 20 52 65 73 65 74 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 03
CoLa B	02 02 02 02 00 00 00 19 73 4D 4E 20 52 65 73 65 74 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 08
CoLa B	73 4D 4E 20 52 65 73 65 74 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79

Telegram structure: sAN ResetDetectionHistory

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Method answer	String	3		sAN	73 41 4E
Method name	Echo of method name	String	21		ResetDetectionHistory	52 65 73 65 74 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79

Example: sAN ResetDetectionHistory

Protocol	Example
CoLa A	<STX>sAN{SPC}ResetDetectionHistory<ETX>
CoLa A	02 73 41 4E 20 52 65 73 65 74 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 03
CoLa B	02 02 02 02 00 00 00 19 73 41 4E 20 52 65 73 65 74 44 65 74 65 63 74 69 6F 6E 48 69 73 74 6F 72 79 04