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LMDscandata Format

Compatible with: LRS4000 picoScan100

LMDscandata is a scan data telegram of SICK's CoLa interface. LRS4000 and picoScan100 expose it as a selectable scan data format. On picoScan100 it is sent over a TCP connection that the client opens to the sensor, so delivery is ordered and error-checked. Use it for PLCs and integrations that already use CoLa. For new high-rate integrations, use Compact or MSGPACK over the transport supported by the device.

Receive LMDscandata

  1. Select LMDscandata as the measurement data output format (sWN ScanDataFormat, or in SOPASair under Application > Data output).
  2. Open a TCP connection to the sensor: port 2111 for CoLa A or 2112 for CoLa B.
  3. Request data:

Receive LMDscandata: telegram and result.

Telegram Result
sRN LMDscandata Returns one scan (polling)
sEN LMDscandata 1 Starts continuous output: one telegram per scan
sEN LMDscandata 0 Stops continuous output

No data is sent during boot-up or in some error states (for example Device Not Ready). A login session does not block the output. RSSI in LMDscandata is 8-bit; the value 254 marks a detected reflector.

If the output format is not set to LMDscandata, sRN LMDscandata still returns an sRA LMDscandata telegram, but every field is 0. There is no error code, so check the output format first when you only receive zeros.

Angle Reference

LMDscandata uses the CoLa angle convention: 90° points straight ahead along the sensor X axis. Compact, MSGPACK, and the REST API use 0° for straight ahead. The same full scan of the picoScan100 therefore starts at -48° in LMDscandata and at -138° in Compact. Subtract 90° from an LMDscandata angle to compare it with Compact or MSGPACK data. The start angle and the angular step in the telegram are given in 1/10000°.

Configure and Parse