API | CoLa Telegrams¶

This reference lists the CoLa telegrams supported by the picoScan100. Use the command details to build or troubleshoot PLC and other low-level integrations without guessing the telegram structure.

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

Categories follow the picoScan150 REST API reference where corresponding CoLa telegrams are available. Select a telegram to expand its structure and examples. A direct link to a telegram opens it automatically. The categories organize the reference; they do not imply that every telegram is supported by every picoScan variant.

General¶

METHOD

Log In [sMN SetAccessMode]¶

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

A log in to the device is necessary to change parameters. In most cases, the user level 'Authorized client' is needed. Changed parameters will be reset to the previous state via a reboot unless they are saved. To save parameter changes the command "sMN mEEwriteall" must be sent 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:	`<password hash>`	`<password hash>`

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

CoLa A (ASCII)

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

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

sMN SetAccessMode 3 <password hash>

Telegram structure: sAN SetAccessMode

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

Example: sAN SetAccessMode

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

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

CoLa A (ASCII)

<STX>sMN{SPC}EnableLegacyUserLevel{SPC}3{SPC}1<ETX>

<STX>sMN EnableLegacyUserLevel 3 1<ETX>

sMN EnableLegacyUserLevel 3 1

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 (binary)

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

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

CoLa A (ASCII)

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

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 (binary)

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

METHOD

Load Factory Defaults [sMN mSCloadfacdef]¶

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

Telegram structure: sMN mSCloadfacdef

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

Example: sMN mSCloadfacdef

CoLa A (ASCII)

<STX>sMN{SPC}mSCloadfacdef<ETX>

<STX>sMN mSCloadfacdef<ETX>

sMN mSCloadfacdef

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

CoLa B (binary)

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

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

Telegram structure: sAN mSCloadfacdef

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

Example: sAN mSCloadfacdef

CoLa A (ASCII)

<STX>sAN{SPC}mSCloadfacdef<ETX>

02 73 41 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 41 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 20 04

METHOD

Load Application Defaults [sMN mSCloadappdef]¶

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

Telegram structure: sMN mSCloadappdef

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

Example: sMN mSCloadappdef

CoLa A (ASCII)

<STX>sMN{SPC}mSCloadappdef<ETX>

<STX>sMN mSCloadappdef<ETX>

sMN mSCloadappdef

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

CoLa B (binary)

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

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

Telegram structure: sAN mSCloadappdef

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

Example: sAN mSCloadappdef

CoLa A (ASCII)

<STX>sAN{SPC}mSCloadappdef<ETX>

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

CoLa B (binary)

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

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}LFTchecksum<ETX>

<STX>sRN LFTchecksum<ETX>

sRN LFTchecksum

02 73 52 4E 20 4C 46 54 63 68 65 63 6B 73 75 6D 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 4E 20 4C 46 54 63 68 65 63 6B 73 75 6D 1C

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

CoLa A (ASCII)

<STX>sRA{SPC}LFTchecksum{SPC}1{SPC}20{SPC}92b7b9720c40e8b99268229283617dd5{SPC}20{SPC}e002a1c8022b30589ce0e357c87f5a1c{SPC}20{SPC}901736df3fbc807121c46f9eaed8ff28{SPC}20{SPC}588e8386c7cd011d1a8369c4377e2a4c<ETX>

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 (binary)

02 02 02 02 00 00 00 99 73 52 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

METHOD

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

CoLa A (ASCII)

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

<STX>sMN SetPassword 3 1920E4C9<ETX>

sMN SetPassword 3 1920E4C9

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 (binary)

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

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

CoLa A (ASCII)

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

02 73 41 4E 20 53 65 74 50 61 73 73 77 6F 72 64 20 31 03

CoLa B (binary)

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

METHOD

Check Password [sMN CheckPassword]¶

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

Telegram structure: sMN CheckPassword

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

Check password “testtest” for 'Authorized client'.

Example: sMN CheckPassword

CoLa A (ASCII)

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

<STX>sMN CheckPassword 3 1920E4C9<ETX>

sMN CheckPassword 3 1920E4C9

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

CoLa B (binary)

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

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

Telegram structure: sAN CheckPassword

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

Example: sAN CheckPassword

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

Save Parameters Permanently [sMN mEEwriteall]¶

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

Telegram structure: sMN mEEwriteall

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

Example: sMN mEEwriteall

CoLa A (ASCII)

<STX>sMN{SPC}mEEwriteall<ETX>

<STX>sMN mEEwriteall<ETX>

sMN mEEwriteall

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

CoLa B (binary)

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

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

Telegram structure: sAN mEEwriteall

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

Example: sAN mEEwriteall

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

Set to Run [sMN Run]¶

Log out from device and activate all parameter changes.

Telegram structure: sMN Run

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

Example: sMN Run

CoLa A (ASCII)

<STX>sMN{SPC}Run<ETX>

<STX>sMN Run<ETX>

sMN Run

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

CoLa B (binary)

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

73 4D 4E 20 52 75 6E

Telegram structure: sAN Run

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

Example: sAN Run

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

Reboot Device [sMN mSCreboot]¶

This command includes saving all parameters.

Telegram structure: sMN mSCreboot

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

Example: sMN mSCreboot

CoLa A (ASCII)

<STX>sMN{SPC}mSCreboot<ETX>

<STX>sMN mSCreboot<ETX>

sMN mSCreboot

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

CoLa B (binary)

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

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

Telegram structure: sAN mSCreboot

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

Example: sAN mSCreboot

CoLa A (ASCII)

<STX>sAN{SPC}mSCreboot<ETX>

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

CoLa B (binary)

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

Status¶

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}DevSta<ETX>

<STX>sRN DevSta<ETX>

sRN DevSta

02 73 52 4E 20 44 65 76 53 74 61 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 44 65 76 53 74 61 5E

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

CoLa A (ASCII)

<STX>sRA{SPC}DevSta{SPC}3<ETX>

02 73 52 41 20 44 65 76 53 74 61 20 33 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 52 41 20 44 65 76 53 74 61 20 03 72

EVENT

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`
Data	Start/ Stop	Bool_1	1	Stop: Start:	`0 1`	`00 01`

Example: sEN DevSta

CoLa A (ASCII)

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

<STX>sEN DevSta 1<ETX>

sEN DevSta 1

02 73 45 4E 20 44 65 76 53 74 61 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 45 4E 20 44 65 76 53 74 61 20 01 68

73 45 4E 20 44 65 76 53 74 61 20 01

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

CoLa A (ASCII)

<STX>sSN{SPC}DevSta{SPC}3<ETX>

02 73 53 4E 20 44 65 76 53 74 61 20 33 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 53 4E 20 44 65 76 53 74 61 20 03 7C

READ

Read the Device State [sRN SCdevicestate]¶

This telegram reads the general device state.

Telegram structure: sRN SCdevicestate

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

Example: sRN SCdevicestate

CoLa A (ASCII)

<STX>sRN{SPC}SCdevicestate<ETX>

<STX>sRN SCdevicestate<ETX>

sRN SCdevicestate

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

CoLa B (binary)

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

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

Telegram structure: sRA SCdevicestate

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

Example: sRA SCdevicestate

CoLa A (ASCII)

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

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

CoLa B (binary)

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

EVENT

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`
Data	Start/ Stop	Bool_1	1	Stop: Start:	`0 1`	`00 01`

Example: sEN SCdevicestate

CoLa A (ASCII)

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

<STX>sEN SCdevicestate 1<ETX>

sEN SCdevicestate 1

02 73 45 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 45 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 01 06

73 45 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 01

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

CoLa A (ASCII)

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

02 73 53 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 13 73 53 4E 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 01 10

Device Information¶

READ

Read Firmware Version [sRN DeviceIdent]¶

Telegram structure: sRN DeviceIdent

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

Example: sRN DeviceIdent

CoLa A (ASCII)

<STX>sRN{SPC}DeviceIdent<ETX>

<STX>sRN DeviceIdent<ETX>

sRN DeviceIdent

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

CoLa B (binary)

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

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

Telegram structure: sRA DeviceIdent

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sRA{SPC}DeviceIdent{SPC}8{SPC}picoScan{SPC}8{SPC}1.2.0.0B<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}FirmwareVersion<ETX>

<STX>sRN FirmwareVersion<ETX>

sRN FirmwareVersion

02 73 52 4E 20 46 69 72 6D 77 61 72 65 56 65 72 73 69 6F 6E 03

CoLa B (binary)

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

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	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

CoLa A (ASCII)

<STX>sRA{SPC}FirmwareVersion{SPC}14{SPC}1.2.0-b.0+1225.523ef<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}OrdNum<ETX>

<STX>sRN OrdNum<ETX>

sRN OrdNum

02 73 52 4E 20 4F 72 64 4E 75 6D 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 4F 72 64 4E 75 6D 40

73 52 4E 20 4F 72 64 4E 75 6D

Telegram structure: sRA OrdNum

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sRA{SPC}OrdNum{SPC}7{SPC}1134610<ETX>

02 73 52 41 20 4F 72 64 4E 75 6D 20 37 20 31 31 33 34 36 31 30 03

CoLa B (binary)

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

Read Serial Number [sRN SerialNumber]¶

Read the serial number of the device.

Telegram structure: sRN SerialNumber

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

Example: sRN SerialNumber

CoLa A (ASCII)

<STX>sRN{SPC}SerialNumber<ETX>

<STX>sRN SerialNumber<ETX>

sRN SerialNumber

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

CoLa B (binary)

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

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

Telegram structure: sRA SerialNumber

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

Example: sRA SerialNumber

CoLa A (ASCII)

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

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

CoLa B (binary)

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

READ

Read Device Type [sRN DItype]¶

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

Telegram structure: sRN DItype

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

Example: sRN DItype

CoLa A (ASCII)

<STX>sRN{SPC}DItype<ETX>

<STX>sRN DItype<ETX>

sRN DItype

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

CoLa B (binary)

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

73 52 4E 20 44 49 74 79 70 65

Telegram structure: sRA DItype

Telegram part	Description	Variable	Length	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 characters of the following type code	Uint_16	2	`0d … 65535d (0h … FFFFh)`	`00 00 … FF FF`
Device type	Type code of the device	String	(var.)	`(Device type)`	`(Device type)`

Example: sRA DItype (picoScan150)

CoLa A (ASCII)

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

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

CoLa B (binary)

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

WRITE

Set Device Name [sWN LocationName]¶

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

Telegram structure: sWN LocationName

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sWN{SPC}LocationName{SPC}+9{SPC}LongRange<ETX>

<STX>sWN LocationName +9 LongRange<ETX>

sWN LocationName +9 LongRange

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 (binary)

02 02 02 02 00 00 00 1C 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 0C

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

CoLa A (ASCII)

<STX>sWA{SPC}LocationName<ETX>

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

CoLa B (binary)

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

READ

Read Device Name [sRN LocationName]¶

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

Telegram structure: sRN LocationName

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

Example: sRN LocationName

CoLa A (ASCII)

<STX>sRN{SPC}LocationName<ETX>

<STX>sRN LocationName<ETX>

sRN LocationName

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

CoLa B (binary)

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

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

Telegram structure: sRA LocationName

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

METHOD

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	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

CoLa A (ASCII)

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

<STX>sMN FindMe 1<ETX>

sMN FindMe 1

02 73 4D 4E 20 46 69 6E 64 4D 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 4D 4E 20 46 69 6E 64 4D 65 20 00 01 7C

73 4D 4E 20 46 69 6E 64 4D 65 20 00 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

CoLa A (ASCII)

<STX>sAN{SPC}FindMe<ETX>

02 73 41 4E 20 46 69 6E 64 4D 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0B 73 41 4E 20 46 69 6E 64 4D 65 20 71

Basic Settings¶

READ

Read for Frequency and Angular Resolution [sRN LMPscancfg]¶

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

Telegram structure: sRN LMPscancfg

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

Example: sRN LMPscancfg

CoLa A (ASCII)

<STX>sRN{SPC}LMPscancfg<ETX>

<STX>sRN LMPscancfg<ETX>

sRN LMPscancfg

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

CoLa B (binary)

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

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

Telegram structure: sRA LMPscancfg

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		`sRA`	`73 52 41`
Command	Info of scan frequency and angular resolution	String	10		`LMPscancfg`	`4C 4D 50 73 63 61 6E 63 66 67`
Scan frequency	[1/100 Hz]	Uint_32	4	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, -138° start angle, +138° stop angle

CoLa A (ASCII)

<STX>sRA{SPC}LMPscancfg{SPC}BB8{SPC}1{SPC}3E8{SPC}FFEAF160{SPC}150EA0<ETX>

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 (binary)

02 02 02 02 00 00 00 21 73 52 41 20 4C 4D 50 73 63 61 6E 63 66 67 20 00 00 0B B8 00 01 00 00 03 E8 FF EA F1 60 00 15 0E A0 2A

METHOD

Activate Standby Mode [sMN LMCstandby]¶

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

Telegram structure: sMN LMCstandby

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

Example: sMN LMCstandby

CoLa A (ASCII)

<STX>sMN{SPC}LMCstandby<ETX>

<STX>sMN LMCstandby<ETX>

sMN LMCstandby

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

CoLa B (binary)

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

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

Telegram structure: sAN LMCstandby

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

Example: sAN LMCstandby

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

Start Measurement [sMN LMCstartmeas]¶

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

Telegram structure: sMN LMCstartmeas

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

Example: sMN LMCstartmeas

CoLa A (ASCII)

<STX>sMN{SPC}LMCstartmeas<ETX>

<STX>sMN LMCstartmeas<ETX>

sMN LMCstartmeas

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

CoLa B (binary)

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

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

Telegram structure: sAN LMCstartmeas

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

Example: sAN LMCstartmeas

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

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

CoLa A (ASCII)

<STX>sMN{SPC}LMCstopmeas<ETX>

<STX>sMN LMCstopmeas<ETX>

sMN LMCstopmeas

02 73 4D 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 4D 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 10

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

CoLa A (ASCII)

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

02 73 41 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 20 30 03

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

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

<STX>sWN LMPautostartmeas 1<ETX>

sWN LMPautostartmeas 1

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}LMPautostartmeas<ETX>

02 73 57 41 20 4C 4D 50 61 75 74 6F 73 74 61 72 74 6D 65 61 73 03

CoLa B (binary)

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

WRITE

Set Sensitivity Mode [sWN SensitivityMode]¶

Define a sensitivity mode for the detection of reflectors .

Telegram structure: sWN SensitivityMode

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

Example: sWN SensitivityMode

CoLa A (ASCII)

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

<STX>sWN SensitivityMode 1<ETX>

sWN SensitivityMode 1

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

CoLa B (binary)

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

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

Telegram structure: sWA SensitivityMode

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

Example: sWA SensitivityMode

CoLa A (ASCII)

<STX>sWA{SPC}SensitivityMode<ETX>

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

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}PerformanceProfileNumber{SPC}2<ETX>

<STX>sWN PerformanceProfileNumber 2<ETX>

sWN PerformanceProfileNumber 2

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}PerformanceProfileNumber<ETX>

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 (binary)

02 02 02 02 00 00 00 1D 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 55

WRITE

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

CoLa A (ASCII)

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

<STX>sWN EnableLongRangeMode 1<ETX>

sWN EnableLongRangeMode 1

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EnableLongRangeMode<ETX>

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 (binary)

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

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 52 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

CoLa A (ASCII)

<STX>sRN{SPC}EnableLongRangeMode<ETX>

<STX>sRN EnableLongRangeMode<ETX>

sRN EnableLongRangeMode

02 73 52 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 03

CoLa B (binary)

02 02 02 02 00 00 00 17 73 52 4E 20 45 6E 61 62 6C 65 4C 6F 6E 67 52 61 6E 67 65 4D 6F 64 65 38

73 52 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: sRA EnableLongRangeMode

CoLa A (ASCII)

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

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 (binary)

02 02 02 02 00 00 00 19 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

WRITE

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

CoLa A (ASCII)

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

<STX>sWN LEDEnable 1<ETX>

sWN LEDEnable 1

02 73 57 4E 20 4C 45 44 45 6E 61 62 6C 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 57 4E 20 4C 45 44 45 6E 61 62 6C 65 20 01 07

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

CoLa A (ASCII)

<STX>sWA{SPC}LEDEnable<ETX>

02 73 57 41 20 4C 45 44 45 6E 61 62 6C 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 57 41 20 4C 45 44 45 6E 61 62 6C 65 20 09

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}LEDState<ETX>

<STX>sRN LEDState<ETX>

sRN LEDState

02 73 52 4E 20 4C 45 44 53 74 61 74 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 52 4E 20 4C 45 44 53 74 61 74 65 55

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

CoLa A (ASCII)

<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>

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 (binary)

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

Date and System Time¶

WRITE

Set Time Synchronization [sWN TSCRole]¶

Set the device synchronization mode.

Telegram structure: sWN TSCRole

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

Example: sWN TSCRole

CoLa A (ASCII)

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

<STX>sWN TSCRole 1<ETX>

sWN TSCRole 1

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

CoLa B (binary)

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

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

Telegram structure: sWA TSCRole

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

Example: sWA TSCRole

CoLa A (ASCII)

<STX>sWA{SPC}TSCRole<ETX>

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

CoLa B (binary)

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

METHOD

Set Time Stamp [sMN LSPsetdatetime]¶

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

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

The answer is always in ASCII format.

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

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

Telegram structure: sMN LSPsetdatetime

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sMN{SPC}LSPsetdatetime{SPC}7D9{SPC}2{SPC}11{SPC}10{SPC}22{SPC}0{SPC}0<ETX>

<STX>sMN LSPsetdatetime 7D9 2 11 10 22 0 0<ETX>

sMN LSPsetdatetime 7D9 2 11 10 22 0 0

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 (binary)

02 02 02 02 00 00 00 1E 73 4D 4E 20 4C 53 50 73 65 74 64 61 74 65 74 69 6D 65 20 07 D9 02 11 10 22 00 00 00 00 00 A3

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

CoLa A (ASCII)

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

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

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

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

CoLa B (binary)

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

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

Telegram structure: sAN LSPsetdatetime

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

Example 1, 2: sAN LSPsetdatetime

CoLa A (ASCII)

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

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

CoLa B (binary)

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

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

Set NTP (Network Time Protocol) Parameters

WRITE

Set Time Server IP Address [sWN TSCTCSrvAddr]¶

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

Telegram structure: sWN TSCTCSrvAddr

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

Example: sWN TSCTCSrvAddr 192.168.0.11

CoLa A (ASCII)

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

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

sWN TSCTCSrvAddr C0 A8 00 0B

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

CoLa B (binary)

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

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

Telegram structure: sWA TSCTCSrvAddr

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

Example: sWA TSCTCSrvAddr

CoLa A (ASCII)

<STX>sWA{SPC}TSCTCSrvAddr<ETX>

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

CoLa B (binary)

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

WRITE

Set Time Zone [sWN TSCTCtimezone]¶

Telegram structure: sWN TSCTCtimezone

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

Time zone data Values CoLa (ASCII)

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

Example: sWN TSCTCtimezone Amsterdam, Berlin, Rom

CoLa A (ASCII)

<STX>sWN{SPC}TSCTCtimezone{SPC}+36<ETX>

<STX>sWN TSCTCtimezone +36<ETX>

sWN TSCTCtimezone +36

02 73 57 4E 20 54 53 43 54 43 74 69 6D 65 7A 6F 6E 65 20 2B 33 36 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}TSCTCtimezone<ETX>

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

CoLa B (binary)

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

WRITE

Set Update Time [sWN TSCTCupdatetime]¶

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

Telegram structure: sWN TSCTCupdatetime

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

Example: sWN TSCTCupdatetime 600 s

CoLa A (ASCII)

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

<STX>sWN TSCTCupdatetime +600<ETX>

sWN TSCTCupdatetime +600

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

CoLa B (binary)

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

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

Telegram structure: sWA TSCTCupdatetime

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

Example: sWA TSCTCupdatetime

CoLa A (ASCII)

<STX>sWA{SPC}TSCTCupdatetime<ETX>

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

CoLa B (binary)

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

Filter¶

WRITE

Set Particle Filter [sWN LFPparticle]¶

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

Telegram structure: sWN LFPparticle

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

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

Example: sWN LFPparticle

CoLa A (ASCII)

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

<STX>sWN LFPparticle 1 +500<ETX>

sWN LFPparticle 1 +500

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

CoLa B (binary)

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

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

Telegram structure: sWA LFPparticle

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

Example: sWA LFPparticle

CoLa A (ASCII)

<STX>sWA{SPC}LFPparticle<ETX>

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

CoLa B (binary)

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

WRITE

Set Echo Filter [sWN FREchoFilter]¶

Only available with firmware versions > V1.10.

Select which measurement value(s) shall be sent via LMDscandata if the measurement of one angular position returns several distance values

Telegram structure: sWN FREchoFilter

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

Example: sWN FREchoFilter

CoLa A (ASCII)

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

<STX>sWN FREchoFilter 1<ETX>

sWN FREchoFilter 1

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

CoLa B (binary)

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

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

Telegram structure: sWA FREchoFilter

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

Example: sWa FREchoFilter

CoLa A (ASCII)

<STX>sWA{SPC}FREchoFilter<ETX>

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

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

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

<STX>sWN MCSenseLevel 1<ETX>

sWN MCSenseLevel 1

02 73 57 4E 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 57 4E 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 01 7D

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

CoLa A (ASCII)

<STX>sWA{SPC}MCSenseLevel<ETX>

02 73 57 41 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 03

CoLa B (binary)

02 02 02 02 00 00 00 11 73 57 41 20 4D 43 53 65 6E 73 65 4C 65 76 65 6C 20 73

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}LFPmovingAveragingFilter{SPC}+0{SPC}+3<ETX>

<STX>sWN LFPmovingAveragingFilter +0 +3<ETX>

sWN LFPmovingAveragingFilter +0 +3

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 (binary)

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 00 00 03 41

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 00 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

CoLa A (ASCII)

<STX>sWA{SPC}LFPmovingAveragingFilter<ETX>

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 (binary)

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

Contamination Indication¶

WRITE

Set Contamination Indication Settings [sWN ContaminationConfig]¶

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

Telegram structure: sWN ContaminationConfig

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

CoLa A (ASCII)

<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>

<STX>sWN ContaminationConfig 2 3C 2 6 7 1 1 1 1 1 1 1 1 1<ETX>

sWN ContaminationConfig 2 3C 2 6 7 1 1 1 1 1 1 1 1 1

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 03

CoLa B (binary)

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 06 00 07 01 01 01 01 01 01 01 01 01 3C

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 06 00 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

CoLa A (ASCII)

<STX>sWA{SPC}ContaminationConfig<ETX>

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 (binary)

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 0F

READ

Read Contamination Indication Settings [sRN ContaminationConfig]¶

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

Telegram structure: sRN ContaminationConfig

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

Example: sRN ContaminationConfig

CoLa A (ASCII)

<STX>sRN{SPC}ContaminationConfig<ETX>

<STX>sRN ContaminationConfig<ETX>

sRN ContaminationConfig

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 (binary)

02 02 02 02 00 00 00 17 73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67 25

73 52 4E 20 43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67

Telegram structure: sRA ContaminationConfig

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Answer	String	3		`sRA`	`73 52 41`
Command		String	19		`ContaminationConfig`	`43 6F 6E 74 61 6D 69 6E 61 74 69 6F 6E 43 6F 6E 66 69 67`
Strategy	Strategy code	Enum_8	1	No output: All sectors contaminated: One sector contaminated:	`0 1 2`	`00 01 02`
Response time	How fast (in seconds) the sensor reacts after a contamination	Uint_16	2	Value range 3 ... 60 Default: 3	`03h … 3Ch`	`00 03 … 00 3C`
Threshold warning	Sensitivity	Enum_8	1	High: Medium: Low:	`0 1 2`	`00 01 02`
Sector preselection	Selection of either custom sectors or used weather protection hood	Enum_8	1	All sectors: Weather protection hood: Custom sectors:	`0 6 FF`	`00 06 FF`
Length		UInt_16	2	Always:	`7`	`00 07`
Custom sectors	Enable/ disable individual sectors when custom sectors got selected in Sector preselection	Array	7	Active: 1 Inactive: 0 Default value of all sectors is active	`0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1 0 ... 1`	`00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01 00 ... 01`
Enable Warning	Warning monitoring	Bool_1	1	Off (False): On (True):	`0 1`	`00 01`
Enable Error	Error monitoring	Bool_1	1	Off (False): On (True):	`0 1`	`00 01`

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

CoLa A (ASCII)

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

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

CoLa B (binary)

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

READ

Read Contamination Indication Data [sRN ContaminationData]¶

Get the current contamination indication data.

Telegram structure: sRN ContaminationData

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

Example: sRN ContaminationData

CoLa A (ASCII)

<STX>sRN{SPC}ContaminationData<ETX>

<STX>sRN ContaminationData<ETX>

sRN ContaminationData

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

CoLa B (binary)

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

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

Telegram structure: sRA ContaminationData

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

Example: sRA ContaminationData

CoLa A (ASCII)

<STX>sRA{SPC}ContaminationData{SPC}7{SPC}2{SPC}1{SPC}2{SPC}3{SPC}2{SPC}1{SPC}2<ETX>

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 (binary)

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 61 20 00 07 02 01 02 03 02 01 02 14

EVENT

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

CoLa A (ASCII)

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

<STX>sEN ContaminationData 1<ETX>

sEN ContaminationData 1

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 (binary)

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

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

CoLa A (ASCII)

<STX>sSN{SPC}ContaminationData{SPC}7{SPC}0{SPC}0{SPC}0{SPC}2{SPC}2{SPC}1{SPC}1<ETX>

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 31 20 31 03

CoLa B (binary)

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

Read Contamination Indication Result [sRN ContaminationResult]¶

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

Telegram structure: sRN ContaminationResult

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

Example: sRN ContaminationResult

CoLa A (ASCII)

<STX>sRN{SPC}ContaminationResult<ETX>

<STX>sRN ContaminationResult<ETX>

sRN ContaminationResult

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

CoLa B (binary)

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

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

Telegram structure: sRA ContaminationResult

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

Example: sRA ContaminationResult warning inactive error inactive

CoLa A (ASCII)

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

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

CoLa B (binary)

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

EVENT

Send Contamination Indication Result Permanently [sEN ContaminationResult]¶

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

Telegram structure: sEN ContaminationResult

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

Example: sEN ContaminationResult

CoLa A (ASCII)

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

<STX>sEN ContaminationResult 1<ETX>

sEN ContaminationResult 1

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

CoLa B (binary)

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

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

Telegram structure: sSN ContaminationResult

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

Example: sSN ContaminationResult warning active error inactive

CoLa A (ASCII)

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

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

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

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

<STX>sWN treatBlockedSectorsAsErrorSectors 1<ETX>

sWN treatBlockedSectorsAsErrorSectors 1

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}treatBlockedSectorsAsErrorSectors<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}treatBlockedSectorsAsErrorSectors<ETX>

<STX>sRN treatBlockedSectorsAsErrorSectors<ETX>

sRN treatBlockedSectorsAsErrorSectors

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 (binary)

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

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

CoLa A (ASCII)

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

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 (binary)

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

Ethernet¶

WRITE

Set IP Address [sWN EIIpAddr]¶

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

Telegram structure: sWN EIIpAddr

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

Example: sWN EIIpAddr 192.168.0.2

CoLa A (ASCII)

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

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

sWN EIIpAddr C0 A8 0 2

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

CoLa B (binary)

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

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

Telegram structure: sWA EIIpAddr

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

Example: sWA EIIpAddr

CoLa A (ASCII)

<STX>sWA{SPC}EIIpAddr<ETX>

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

CoLa B (binary)

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

READ

Read IP Address [sRN EIIpAddr]¶

Read the IP address of the device.

Telegram structure: sRN EIIpAddr

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

Example: sRN EIIpAddr

CoLa A (ASCII)

<STX>sRN{SPC}EIIpAddr<ETX>

<STX>sRN EIIpAddr<ETX>

sRN EIIpAddr

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

CoLa B (binary)

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

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

Telegram structure: sRA EIIpAddr

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

Example: sRA EIIpAddr 192.168.0.2

CoLa A (ASCII)

<STX>sRA{SPC}EIIpAddr{SPC}C0{SPC}A8{SPC}00{SPC}02<ETX>

02 73 52 41 20 45 49 49 70 41 64 64 72 20 43 30 20 41 38 20 30 30 20 30 32 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}EIIpAddrDHCP<ETX>

<STX>sRN EIIpAddrDHCP<ETX>

sRN EIIpAddrDHCP

02 73 52 4E 20 45 49 49 70 41 64 64 72 44 48 43 50 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRA{SPC}EIIpAddrDHCP{SPC}C0{SPC}A8{SPC}0{SPC}1<ETX>

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 (binary)

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

WRITE

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

CoLa A (ASCII)

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

<STX>sWN EIAddrMode 1<ETX>

sWN EIAddrMode 1

02 73 57 4E 20 45 49 41 64 64 72 4D 6F 64 65 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 10 73 57 4E 20 45 49 41 64 64 72 4D 6F 64 65 20 01 77

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

CoLa A (ASCII)

<STX>sWA{SPC}EIAddrMode<ETX>

02 73 57 41 20 45 49 41 64 64 72 4D 6F 64 65 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 57 41 20 45 49 41 64 64 72 4D 6F 64 65 20 79

WRITE

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

CoLa A (ASCII)

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

<STX>sWN EIDHCPFallback 1<ETX>

sWN EIDHCPFallback 1

02 73 57 4E 20 45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B 20 31 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EIDHCPFallback<ETX>

02 73 57 41 20 45 49 44 48 43 50 46 61 6C 6C 62 61 63 6B 03

CoLa B (binary)

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

WRITE

Set Ethernet Gateway [sWN EIgate]¶

Change Ethernet gateway IP address (TCP/IP)

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

Telegram structure: sWN EIgate

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

Example: sWN EIgate 192.168.0.1

CoLa A (ASCII)

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

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

sWN EIgate C0 A8 00 01

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

CoLa B (binary)

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

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

Telegram structure: sWA EIgate

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

Example: sWA EIgate

CoLa A (ASCII)

<STX>sWA{SPC}EIgate<ETX>

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

CoLa B (binary)

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

READ

Read Ethernet Gateway [sRN EIgate]¶

Read for the Ethernet gateway (TCP/IP)

Telegram structure: sRN EIgate

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

Example: sRN EIgate

CoLa A (ASCII)

<STX>sRN{SPC}EIgate<ETX>

<STX>sRN EIgate<ETX>

sRN EIgate

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

CoLa B (binary)

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

73 52 4E 20 45 49 67 61 74 65

Telegram structure: sRA EIgate

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

Example: sRA EIgate 192.168.0.1

CoLa A (ASCII)

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

02 73 52 41 20 45 49 67 61 74 65 20 43 30 20 41 38 20 30 30 20 30 31 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 41 20 45 49 67 61 74 65 20 C0 A8 00 01 12

READ

Read Ethernet Gateway IP Address Assigned by DHCP [sRN EIgateDHCP]¶

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 EIgateDHCP

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 EIgateDHCP

CoLa A (ASCII)

<STX>sRN{SPC}EIgateDHCP<ETX>

<STX>sRN EIgateDHCP<ETX>

sRN EIgateDHCP

02 73 52 4E 20 45 49 67 61 74 65 44 48 43 50 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 52 4E 20 45 49 67 61 74 65 44 48 43 50 4B

73 52 4E 20 45 49 67 61 74 65 44 48 43 50

Telegram structure: sRA EIgateDHCP

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 EIgateDHCP 0.0.0.0

CoLa A (ASCII)

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

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 (binary)

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

WRITE

Set IP Mask [sWN EImask]¶

Define the subnet mask of the device.

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

Telegram structure: sWN EImask

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

Example: sWN EImask 255.255.254.0

CoLa A (ASCII)

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

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

sWN EImask FF FF FE 00

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

CoLa B (binary)

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

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

Telegram structure: sWA EImask

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

Example: sWA EImask

CoLa A (ASCII)

<STX>sWA{SPC}EImask<ETX>

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

CoLa B (binary)

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

READ

Read IP Mask [sRN EImask]¶

Read the subnet mask of the device.

Telegram structure: sRN EImask

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

Example: sRN EImask

CoLa A (ASCII)

<STX>sRN{SPC}EImask<ETX>

<STX>sRN EImask<ETX>

sRN EImask

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

CoLa B (binary)

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

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

Telegram structure: sRA EImask

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

Example: sRA EImask 255.255.254.0

CoLa A (ASCII)

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

02 73 52 41 20 45 49 6D 61 73 6B 20 46 46 20 46 46 20 46 45 20 30 30 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 41 20 45 49 6D 61 73 6B 20 FF FF FE 00 86

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}EImaskDHCP<ETX>

<STX>sRN EImaskDHCP<ETX>

sRN EImaskDHCP

02 73 52 4E 20 45 49 6D 61 73 6B 44 48 43 50 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 52 4E 20 45 49 6D 61 73 6B 44 48 43 50 48

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

CoLa A (ASCII)

<STX>sRA{SPC}EImaskDHCP{SPC}FF{SPC}FF{SPC}FF{SPC}0<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}EIMacAdr<ETX>

<STX>sRN EIMacAdr<ETX>

sRN EIMacAdr

02 73 52 4E 20 45 49 4D 61 63 41 64 72 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 52 4E 20 45 49 4D 61 63 41 64 72 5B

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

CoLa A (ASCII)

<STX>sRA{SPC}EIMacAdr{SPC}0{SPC}6{SPC}77{SPC}22{SPC}40{SPC}EA<ETX>

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 (binary)

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

METHOD

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

CoLa A (ASCII)

<STX>sMN{SPC}mEthUpdt<ETX>

<STX>sMN mEthUpdt<ETX>

sMN mEthUpdt

02 73 4D 4E 20 6D 45 74 68 55 70 64 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 4D 4E 20 6D 45 74 68 55 70 64 74 51

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

CoLa A (ASCII)

<STX>sAN{SPC}mEthUpdt<ETX>

02 73 41 4E 20 6D 45 74 68 55 70 64 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 41 4E 20 6D 45 74 68 55 70 64 74 20 7D

Inputs and Outputs¶

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}LIDportstate<ETX>

<STX>sRN LIDportstate<ETX>

sRN LIDportstate

02 73 52 4E 20 4C 49 44 70 6F 72 74 73 74 61 74 65 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<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>

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 (binary)

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

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

Read the configuration of the digital inputs and outputs.

Telegram structure: sRN PortConfiguration

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

Example: sRN PortConfiguration

CoLa A (ASCII)

<STX>sRN{SPC}PortConfiguration<ETX>

<STX>sRN PortConfiguration<ETX>

sRN PortConfiguration

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

CoLa B (binary)

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

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

Telegram structure: sRA PortConfiguration

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

Example: sRA PortConfiguration

CoLa A (ASCII)

<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>

<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>

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 (binary)

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 00

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

WRITE

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 PortConfiguration

CoLa A (ASCII)

<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}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>

<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 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>

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 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

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 30 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 20 30 20 36 20 49 6E 4F 75 74 34 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 20 30 20 36 20 49 6E 4F 75 74 35 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 20 30 20 36 20 49 6E 4F 75 74 36 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 20 31 20 36 20 49 6E 4F 75 74 37 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 38 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 03

CoLa B (binary)

02 02 02 02 00 00 01 7A 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 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 0A

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 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

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

CoLa A (ASCII)

<STX>sWA{SPC}PortConfiguration<ETX>

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 (binary)

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

Read State of the Inputs [sRN LIDinputstate]¶

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

Telegram structure: sRN LIDinputstate

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

Example: sRN LIDinputstate

CoLa A (ASCII)

<STX>sRN{SPC}LIDinputstate<ETX>

<STX>sRN LIDinputstate<ETX>

sRN LIDinputstate

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

CoLa B (binary)

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

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

Telegram structure: sRA LIDinputstate

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

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

CoLa A (ASCII)

<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>

02 73 52 41 20 4C 49 44 69 6E 70 75 74 73 74 61 74 65 20 31 20 33 31 46 39 39 43 31 30 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 (binary)

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

Read State of the Outputs [sRN LIDoutputstate]¶

Status of all outputs

Telegram structure: sRN LIDoutputstate

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

Example: sRN LIDoutputstate

CoLa A (ASCII)

<STX>sRN{SPC}LIDoutputstate<ETX>

<STX>sRN LIDoutputstate<ETX>

sRN LIDoutputstate

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

CoLa B (binary)

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

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

Telegram structure: sRA LIDoutputstate

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

EVENT

Receive Outputstate by Event [sEN LIDoutputstate]¶

Output telegram is sent every time an output state changes.

Telegram structure: sEN LIDoutputstate

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

Example: sEN LIDoutputstate

CoLa A (ASCII)

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

<STX>sEN LIDoutputstate 1<ETX>

sEN LIDoutputstate 1

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

CoLa B (binary)

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

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

Telegram structure: sRA/sSN LIDoutputstate

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

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

CoLa A (ASCII)

<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}0{SPC}1{SPC}7B2{SPC}1{SPC}1{SPC}0{SPC}1F{SPC}26{SPC}2EA18<ETX>

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 (binary)

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

METHOD

Set Output State [sMN mDOSetOutput]¶

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

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

Telegram structure: sMN mDOSetOutput

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

Example: sMN mDOSetOutput

CoLa A (ASCII)

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

<STX>sMN mDOSetOutput 1 1<ETX>

sMN mDOSetOutput 1 1

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

CoLa B (binary)

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

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

Telegram structure: sAN mDOSetOutput

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

Example: sAN mDOSetOutput

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

Reset Output Counter [sMN LIDrstoutpcnt]¶

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

Telegram structure: sMN LIDrstoutpcnt

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

Example: sMN LIDrstoutpcnt

CoLa A (ASCII)

<STX>sMN{SPC}LIDrstoutpcnt<ETX>

<STX>sMN LIDrstoutpcnt<ETX>

sMN LIDrstoutpcnt

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

CoLa B (binary)

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

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

Telegram structure: sAN LIDrstoutpcnt

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

Example: sAN LIDrstoutpcnt

CoLa A (ASCII)

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

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

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

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

<STX>sWN enableCloningPlug 1<ETX>

sWN enableCloningPlug 1

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}enableCloningPlug<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}enableCloningPlug<ETX>

<STX>sRN enableCloningPlug<ETX>

sRN enableCloningPlug

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 (binary)

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

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

CoLa A (ASCII)

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

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 (binary)

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

Measurement Data Output¶

WRITE

Configure the Data Content for the Scan [sWN LMDscandatacfg]¶

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

Telegram structure: sWN LMDscandatacfg

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

Example: RSSI enabled

Example: sWN LMDscandatacfg

CoLa A (ASCII)

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

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

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

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

CoLa B (binary)

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

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

Telegram structure: sWA LMDscandatacfg

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

Example: sWA LMDscandatacfg

CoLa A (ASCII)

<STX>sWA{SPC}LMDscandatacfg<ETX>

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

CoLa B (binary)

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

READ

Poll One Telegram [sRN LMDscandata]¶

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

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

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

Telegram structure: sRN LMDscandata

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

Example: sRN LMDscandata

CoLa A (ASCII)

<STX>sRN{SPC}LMDscandata<ETX>

<STX>sRN LMDscandata<ETX>

sRN LMDscandata

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

CoLa B (binary)

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

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

Telegram structure: sRA LMDscandata

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

EVENT

Send Data Permanently [sEN LMDscandata]¶

Start/ stop continuous retrievement of measurement data from device. Data will be transmitted as configured as soon as measurement data is generated by the device. No data is generated when there is an active log in, the laser is shut off (e.g. in Standby mode), the motor is stopped 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

CoLa A (ASCII)

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

<STX>sEN LMDscandata 1<ETX>

sEN LMDscandata 1

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

CoLa B (binary)

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

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

Telegram structure: sEA LMDscandata

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

Example: Confirmation of sEA LMDscandata

CoLa A (ASCII)

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

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

CoLa B (binary)

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

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

Telegram structure: Datastream of sRA LMDscandata/sSN LMDscandata

Telegram part	Description	Variable	Length	Additional details	Values CoLa A (ASCII)	Values CoLa B (Binary)
Command type	Read	String	3	Answer to sRN LMDscandata: Answer to sEN LMDscandata:	`sRA sSN`	`73 52 41 73 53 4E`
Command	Data telegram	String	11		`LMDscandata`	`4C 4D 44 73 63 61 6E 64 61 74 61`
Version number	For detecting format changes by the version.	Uint_16	2		`1h … FFFFh`	`00 01 … FF FF`
Device
Device number	Defined with SOPAS	Uint_16	2		`0h … FFFFh`	`00 00 … FF FF`
Serial number	Production period (year, calendar week, number): YYWWxxxx	Uint_32	4		`0h … FFFFFFFFh`	`00 00 00 00 … FF FF FF FF`
Device status	(See values column)	Uint_8	2 x 1	Ok: Error:	`0 0 1 0`	`00 00 01 00`
Status info
Telegram counter	Number of measurement telegrams finished in the scanner and given to the interface. Does not count how many telegrams were really given out; is relevant if not all scans are delivered from the scan core.	Uint_16	2		`0h … FFFFh`	`00 00 … FF FF`
Scan counter	Number of scans which were created in the device; counts how many scans were really done.	Uint_16	2		`0h … FFFFh`	`00 00 … FF FF`
Time since start up in µs	In the output telegram this is the time at the zero index before the measurement itself starts. Time base is the boot-up time in µs since power up, max. 71 min then starting from 0 again.	Uint_32	4		`0h … FFFFFFFFh`	`00 00 00 00 … FF FF FF FF`
Time of transmission in µs	In the output telegram this is the time when the complete scan is transmitted to the buffer for data output. Time base is the boot-up time in µs since power up, max. 71 min then starting from 0 again.	Uint_32	4		`0h … FFFFFFFFh`	`00 00 00 00 … FF FF FF FF`
Status of digital inputs	Low byte represents input 1.	Uint_8	2 x 1	All inputs low: Input 1 high: Input 2 high: Input 1+2 high: All inputs high: (Depends on system plug and port configuration)	`0 0 1 0 2 0 3 0 3 F`	`00 00 01 00 02 00 03 00 03 0F`
Status of digital outputs	Low byte represents output 1.	Uint_8	2 x 1	All outputs low: All outputs high:	`0 0 3 F`	`00 00 03 0F`
Reserved	-	Uint_16	2	Always:	`0`	`00 00 00 00`
Frequencies
Scan frequency	[1/100 Hz]	Uint_32	4	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.

WRITE

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

CoLa A (ASCII)

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

<STX>sWN ScanDataEnable 0<ETX>

sWN ScanDataEnable 0

02 73 57 4E 20 53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65 20 30 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}ScanDataEnable<ETX>

02 73 57 41 20 53 63 61 6E 44 61 74 61 45 6E 61 62 6C 65 03

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}ScanDataEthSettings{SPC}+1{SPC}+192{SPC}+168{SPC}+0{SPC}+100{SPC}+2115<ETX>

<STX>sWN ScanDataEthSettings +1 +192 +168 +0 +100 +2115<ETX>

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

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}ScanDataEthSettings<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}ScanDataEthSettings<ETX>

<STX>sRN ScanDataEthSettings<ETX>

sRN ScanDataEthSettings

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 (binary)

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

73 52 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

CoLa A (ASCII)

<STX>sRA{SPC}ScanDataEthSettings{SPC}1{SPC}C0{SPC}A8{SPC}0{SPC}64{SPC}843<ETX>

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 (binary)

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 55

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}ScanDataFormat<ETX>

<STX>sRN ScanDataFormat<ETX>

sRN ScanDataFormat

02 73 52 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 52 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 63

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

CoLa A (ASCII)

<STX>sRA{SPC}ScanDataFormat{SPC}2<ETX>

02 73 52 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 32 03

CoLa B (binary)

02 02 02 02 00 00 00 14 73 52 41 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 02 4E

WRITE

Set Scan Data Format [sWN ScanDataFormat]¶

Set the data serialization format

Telegram structure: sWN ScanDataFormat

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

Example: sWN ScanDataFormat

Scan data format set to Compact format

Example: sWN ScanDataFormat

CoLa A (ASCII)

<STX>sWN{SPC}ScanDataFormat{SPC}2<ETX>

<STX>sWN ScanDataFormat 2<ETX>

sWN ScanDataFormat 2

02 73 57 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 32 03

CoLa B (binary)

02 02 02 02 00 00 00 14 73 57 4E 20 53 63 61 6E 44 61 74 61 46 6F 72 6D 61 74 20 02 44

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

CoLa A (ASCII)

<STX>sWA{SPC}ScanDataFormat<ETX>

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

CoLa B (binary)

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

WRITE

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	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

CoLa A (ASCII)

<STX>sWN{SPC}EtherSessionTimeout{SPC}+15000<ETX>

<STX>sWN EtherSessionTimeout +15000<ETX>

sWN EtherSessionTimeout +15000

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EtherSessionTimeout<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}EtherSessionTimeout<ETX>

<STX>sRN EtherSessionTimeout<ETX>

sRN EtherSessionTimeout

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 (binary)

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

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	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

CoLa A (ASCII)

<STX>sRA{SPC}EtherSessionTimeout{SPC}3A98<ETX>

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 33 41 39 38 03

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}compactTelegramType1Content{SPC}1{SPC}1<ETX>

<STX>sWN compactTelegramType1Content 1 1<ETX>

sWN compactTelegramType1Content 1 1

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}compactTelegramType1Content<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}compactTelegramType1Content<ETX>

<STX>sRN compactTelegramType1Content<ETX>

sRN compactTelegramType1Content

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRA{SPC}compactTelegramType1Content{SPC}1{SPC}1<ETX>

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 (binary)

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

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	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

CoLa A (ASCII)

<STX>sWN{SPC}rosParentFrameId{SPC}5{SPC}world<ETX>

<STX>sWN rosParentFrameId 5 world<ETX>

sWN rosParentFrameId 5 world

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 (binary)

02 02 02 02 00 00 00 1C 73 57 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 00 05 77 6F 72 6C 64 2F

73 57 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 00 05 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

CoLa A (ASCII)

<STX>sWA{SPC}rosParentFrameId<ETX>

02 73 57 41 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}rosParentFrameId<ETX>

<STX>sRN rosParentFrameId<ETX>

sRN rosParentFrameId

02 73 52 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 03

CoLa B (binary)

02 02 02 02 00 00 00 14 73 52 4E 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 6D

73 52 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	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

CoLa A (ASCII)

<STX>sRA{SPC}rosParentFrameId{SPC}5{SPC}world<ETX>

02 73 52 41 20 72 6F 73 50 61 72 65 6E 74 46 72 61 6D 65 49 64 20 35 20 77 6F 72 6C 64 03

CoLa B (binary)

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 77 6F 72 6C 64 25

WRITE

Write ROS Frame ID [sWN rosFrameId]¶

Set the frame ID of the published topics.

Telegram structure: sWN rosFrameId

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sWN{SPC}rosFrameId{SPC}4{SPC}test<ETX>

<STX>sWN rosFrameId 4 test<ETX>

sWN rosFrameId 4 test

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 (binary)

02 02 02 02 00 00 00 15 73 57 4E 20 72 6F 73 46 72 61 6D 65 49 64 20 00 04 74 65 73 74 66

73 57 4E 20 72 6F 73 46 72 61 6D 65 49 64 20 00 04 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

CoLa A (ASCII)

<STX>sWA{SPC}rosFrameId<ETX>

02 73 57 41 20 72 6F 73 46 72 61 6D 65 49 64 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}rosFrameId<ETX>

<STX>sRN rosFrameId<ETX>

sRN rosFrameId

02 73 52 4E 20 72 6F 73 46 72 61 6D 65 49 64 03

CoLa B (binary)

02 02 02 02 00 00 00 0E 73 52 4E 20 72 6F 73 46 72 61 6D 65 49 64 51

73 52 4E 20 72 6F 73 46 72 61 6D 65 49 64

Telegram structure: sRA rosFrameId

Telegram part	Description	Variable	Length	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_"

CoLa A (ASCII)

<STX>sRA{SPC}rosFrameId{SPC}9{SPC}picoScan_<ETX>

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 (binary)

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

Write ROS Namespace [sWN rosNamespace]¶

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

Telegram structure: sWN rosNamespace

Telegram part	Description	Variable	Length	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"

CoLa A (ASCII)

<STX>sWN{SPC}rosNamespace{SPC}A{SPC}rear_lidar<ETX>

<STX>sWN rosNamespace A rear_lidar<ETX>

sWN rosNamespace A rear_lidar

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 (binary)

02 02 02 02 00 00 00 1D 73 57 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 00 0A 72 65 61 72 5F 6C 69 64 61 72 64

73 57 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 00 0A 72 65 61 72 5F 6C 69 64 61 72

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

CoLa A (ASCII)

<STX>sWA{SPC}rosNamespace<ETX>

02 73 57 41 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}rosNamespace<ETX>

<STX>sRN rosNamespace<ETX>

sRN rosNamespace

02 73 52 4E 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 03

CoLa B (binary)

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

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	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"

CoLa A (ASCII)

<STX>sRA{SPC}rosNamespace{SPC}A{SPC}rear_lidar<ETX>

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 (binary)

02 02 02 02 00 00 00 1D 73 52 41 20 72 6F 73 4E 61 6D 65 73 70 61 63 65 20 00 0A 72 65 61 72 5F 6C 69 64 61 72 6E

WRITE

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	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

CoLa A (ASCII)

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

<STX>sWN rosDomainId 0<ETX>

sWN rosDomainId 0

02 73 57 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 20 30 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}rosDomainId<ETX>

02 73 57 41 20 72 6F 73 44 6F 6D 61 69 6E 49 64 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}rosDomainId<ETX>

<STX>sRN rosDomainId<ETX>

sRN rosDomainId

02 73 52 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 52 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64 2C

73 52 4E 20 72 6F 73 44 6F 6D 61 69 6E 49 64

Telegram structure: sRA rosDomainId

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

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

02 73 52 41 20 72 6F 73 44 6F 6D 61 69 6E 49 64 20 30 03

CoLa B (binary)

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

WRITE

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	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

CoLa A (ASCII)

<STX>sWN{SPC}EIAuxPort{SPC}+2111<ETX>

<STX>sWN EIAuxPort +2111<ETX>

sWN EIAuxPort +2111

02 73 57 4E 20 45 49 41 75 78 50 6F 72 74 20 2B 32 31 31 31 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EIAuxPort<ETX>

02 73 57 41 20 45 49 41 75 78 50 6F 72 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 57 41 20 45 49 41 75 78 50 6F 72 74 3C

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}EIAuxPort<ETX>

<STX>sRN EIAuxPort<ETX>

sRN EIAuxPort

02 73 52 4E 20 45 49 41 75 78 50 6F 72 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 52 4E 20 45 49 41 75 78 50 6F 72 74 36

73 52 4E 20 45 49 41 75 78 50 6F 72 74

Telegram structure: sRA EIAuxPort

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sRA{SPC}EIAuxPort{SPC}83F<ETX>

02 73 52 41 20 45 49 41 75 78 50 6F 72 74 20 38 33 46 03

CoLa B (binary)

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

WRITE

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	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

CoLa A (ASCII)

<STX>sWN{SPC}EIHstPort{SPC}+2112<ETX>

<STX>sWN EIHstPort +2112<ETX>

sWN EIHstPort +2112

02 73 57 4E 20 45 49 48 73 74 50 6F 72 74 20 2B 32 31 31 32 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EIHstPort<ETX>

02 73 57 41 20 45 49 48 73 74 50 6F 72 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 57 41 20 45 49 48 73 74 50 6F 72 74 3F

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}EIHstPort<ETX>

<STX>sRN EIHstPort<ETX>

sRN EIHstPort

02 73 52 4E 20 45 49 48 73 74 50 6F 72 74 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 52 4E 20 45 49 48 73 74 50 6F 72 74 35

73 52 4E 20 45 49 48 73 74 50 6F 72 74

Telegram structure: sRA EIHstPort

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sRA{SPC}EIHstPort{SPC}840<ETX>

02 73 52 41 20 45 49 48 73 74 50 6F 72 74 20 38 34 30 03

CoLa B (binary)

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

IMU Data Output¶

WRITE

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

CoLa A (ASCII)

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

<STX>sWN ImuDataEnable 0<ETX>

sWN ImuDataEnable 0

02 73 57 4E 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 20 30 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}ImuDataEnable<ETX>

02 73 57 41 20 49 6D 75 44 61 74 61 45 6E 61 62 6C 65 03

CoLa B (binary)

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

WRITE

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 UDP (1), IPAddress (192.168.0.100), Port (7503)

Example: sWN ImuDataEthSettings

CoLa A (ASCII)

<STX>sWN{SPC}ImuDataEthSettings{SPC}+1{SPC}+192{SPC}+168{SPC}+0{SPC}+100{SPC}+7503<ETX>

<STX>sWN ImuDataEthSettings +1 +192 +168 +0 +100 +7503<ETX>

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

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}ImuDataEthSettings<ETX>

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 (binary)

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

Encoder Data Output¶

WRITE

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

CoLa A (ASCII)

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

<STX>sWN EncoderDataEnable 0<ETX>

sWN EncoderDataEnable 0

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EncoderDataEnable<ETX>

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 (binary)

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

WRITE

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 UDP (1), IPAddress (192.168.0.100), Port (7503)

Example: sWN EncoderDataEthSettings

CoLa A (ASCII)

<STX>sWN{SPC}EncoderDataEthSettings{SPC}+1{SPC}+192{SPC}+168{SPC}+0{SPC}+100{SPC}+7503<ETX>

<STX>sWN EncoderDataEthSettings +1 +192 +168 +0 +100 +7503<ETX>

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

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EncoderDataEthSettings<ETX>

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 (binary)

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

WRITE

Set Encoder Settings [sWN LICencset]¶

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

Telegram structure: sWN LICencset

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

Example: sWN LICencset

CoLa A (ASCII)

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

<STX>sWN LICencset 0<ETX>

sWN LICencset 0

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

CoLa B (binary)

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

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

Telegram structure: sWA LICencset

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

Example: sWA LICencset

CoLa A (ASCII)

<STX>sWA{SPC}LICencset<ETX>

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

CoLa B (binary)

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

WRITE

Set Encoder Resolution [sWN LICencres]¶

Determine the encoder resolution in mm/increment.

Telegram structure: sWN LICencres

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

Example: sWN LICencres

CoLa A (ASCII)

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

<STX>sWN LICencres +1000<ETX>

sWN LICencres +1000

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

CoLa B (binary)

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

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

Telegram structure: sWA LICencres

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

Example: sWA LICencres

CoLa A (ASCII)

<STX>sWA{SPC}LICencres<ETX>

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

CoLa B (binary)

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

METHOD

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

CoLa A (ASCII)

<STX>sMN{SPC}LIDrstencoderinc<ETX>

<STX>sMN LIDrstencoderinc<ETX>

sMN LIDrstencoderinc

02 73 4D 4E 20 4C 49 44 72 73 74 65 6E 63 6F 64 65 72 69 6E 63 03

CoLa B (binary)

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

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

CoLa A (ASCII)

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

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 (binary)

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

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}LICpos1enable{SPC}1<ETX>

<STX>sWN LICpos1enable 1<ETX>

sWN LICpos1enable 1

02 73 57 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 31 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}LICpos1enable<ETX>

02 73 57 41 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}LICpos1enable<ETX>

<STX>sRN LICpos1enable<ETX>

sRN LICpos1enable

02 73 52 4E 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRA{SPC}LICpos1enable{SPC}1<ETX>

02 73 52 41 20 4C 49 43 70 6F 73 31 65 6E 61 62 6C 65 20 31 03

CoLa B (binary)

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

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}LICpos2enable{SPC}1<ETX>

<STX>sWN LICpos2enable 1<ETX>

sWN LICpos2enable 1

02 73 57 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 31 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}LICpos2enable<ETX>

02 73 57 41 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}LICpos2enable<ETX>

<STX>sRN LICpos2enable<ETX>

sRN LICpos2enable

02 73 52 4E 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRA{SPC}LICpos2enable{SPC}1<ETX>

02 73 52 41 20 4C 49 43 70 6F 73 32 65 6E 61 62 6C 65 20 31 03

CoLa B (binary)

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 78

Data Reduction¶

WRITE

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 LFPangleRangeFilter

CoLa A (ASCII)

<STX>sWN{SPC}LFPangleRangeFilter{SPC}1{SPC}-900000{SPC}+900000{SPC}-900000{SPC}+900000{SPC}1<ETX>

<STX>sWN LFPangleRangeFilter 1 -900000 +900000 -900000 +900000 1<ETX>

sWN LFPangleRangeFilter 1 -900000 +900000 -900000 +900000 1

02 73 57 4E 20 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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}LFPangleRangeFilter<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}LFPangleRangeFilter<ETX>

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 (binary)

02 02 02 02 00 00 00 17 73 52 4E 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 0B

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 LFPangleRangeFilter

CoLa A (ASCII)

<STX>sRA{SPC}LFPangleRangeFilter{SPC}1{SPC}FFF24460{SPC}DBBA0{SPC}FFF24460{SPC}DBBA0{SPC}1<ETX>

<STX>sRA LFPangleRangeFilter 1 FFF24460 DBBA0 FFF24460 DBBA0 1<ETX>

sRA LFPangleRangeFilter 1 FFF24460 DBBA0 FFF24460 DBBA0 1

02 73 52 41 20 4C 46 50 61 6E 67 6C 65 52 61 6E 67 65 46 69 6C 74 65 72 20 31 20 46 46 46 32 34 34 36 30 20 44 42 42 41 30 20 46 46 46 32 34 34 36 30 20 44 42 42 41 30 20 31 03

CoLa B (binary)

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 24

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

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}LFPintervalFilter{SPC}1{SPC}3<ETX>

<STX>sWN LFPintervalFilter 1 3<ETX>

sWN LFPintervalFilter 1 3

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 (binary)

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 0D

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

CoLa A (ASCII)

<STX>sWA{SPC}LFPintervalFilter<ETX>

02 73 57 41 20 4C 46 50 69 6E 74 65 72 76 61 6C 46 69 6C 74 65 72 03

CoLa B (binary)

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

Range Filter¶

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}LFPcubicareafilter{SPC}0{SPC}FFFFB1E0{SPC}4E20{SPC}FFFFB1E0{SPC}4E20{SPC}FFFFB1E0{SPC}4E20<ETX>

<STX>sWN LFPcubicareafilter 0 FFFFB1E0 4E20 FFFFB1E0 4E20 FFFFB1E0 4E20<ETX>

sWN LFPcubicareafilter 0 FFFFB1E0 4E20 FFFFB1E0 4E20 FFFFB1E0 4E20

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 (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}LFPcubicareafilter<ETX>

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 (binary)

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

WRITE

Set Radial Distance Range Filter [sWN LFPradialDistanceRangeFilter]¶

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

Telegram structure: sWN LFPradialDistanceRangeFilter

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

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

Example: sWN LFPradialDistanceRangeFilter

CoLa A (ASCII)

<STX>sWN{SPC}LFPradialDistanceRangeFilter{SPC}0{SPC}0{SPC}30D40<ETX>

<STX>sWN LFPradialDistanceRangeFilter 0 0 30D40<ETX>

sWN LFPradialDistanceRangeFilter 0 0 30D40

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 30 20 30 20 33 30 44 34 30 03

CoLa B (binary)

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 67 65 46 69 6C 74 65 72 20 00 00 00 00 00 00 03 0D 40 31

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

CoLa A (ASCII)

<STX>sWA{SPC}LFPradialDistanceRangeFilter<ETX>

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

CoLa B (binary)

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

Field Evaluation¶

METHOD

Set Activation of Evaluation Group [sMN ActivateEvaluationGroup]¶

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

Telegram structure: sMN ActivateEvaluationGroup

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

Example1: sMN ActivateEvaluationGroup - Deactivate evaluation group 1 and 10

CoLa A (ASCII)

<STX>sMN{SPC}ActivateEvaluationGroup{SPC}2{SPC}1{SPC}0{SPC}+10{SPC}0<ETX>

<STX>sMN ActivateEvaluationGroup 2 1 0 +10 0<ETX>

sMN ActivateEvaluationGroup 2 1 0 +10 0

02 73 4D 4E 20 41 63 74 69 76 61 74 65 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 20 32 20 31 20 30 20 2B 31 30 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 24 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 02 00 01 00 00 0A 00 29

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 02 00 01 00 00 0A 00

Example2: sMN ActivateEvaluationGroup - Deactivate evaluation group 1 and 10, activate evaluation group 2 and 3

CoLa A (ASCII)

<STX>sMN{SPC}ActivateEvaluationGroup{SPC}4{SPC}1{SPC}0{SPC}+10{SPC}0{SPC}2{SPC}1{SPC}3{SPC}1<ETX>

<STX>sMN ActivateEvaluationGroup 4 1 0 +10 0 2 1 3 1<ETX>

sMN ActivateEvaluationGroup 4 1 0 +10 0 2 1 3 1

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 34 20 31 20 30 20 2B 31 30 20 30 20 32 20 31 20 33 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 2A 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 04 00 01 00 00 0A 00 00 02 01 00 03 01 2E

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 04 00 01 00 00 0A 00 00 02 01 00 03 01

Telegram structure: sAN ActivateEvaluationGroup

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 ActivateEvaluationGroup - Successfully deactivated evaluation group 1

CoLa A (ASCII)

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

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 (binary)

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 ActivateEvaluationGroup - Successfully deactivated evaluation group 1, successfully activated evaluation group 2, failed activation of evaluation group 3

CoLa A (ASCII)

<STX>sAN{SPC}ActivateEvaluationGroup{SPC}3{SPC}1{SPC}1{SPC}0<ETX>

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 33 20 31 20 31 20 30 03

CoLa B (binary)

02 02 02 02 00 00 00 21 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 2F

READ

Read Evaluation Group Type [sRN EvaluationGroupType]¶

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

Telegram structure: sRN EvaluationGroupType

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

Example: sRN EvaluationGroupType

CoLa A (ASCII)

<STX>sRN{SPC}EvaluationGroupType<ETX>

<STX>sRN EvaluationGroupType<ETX>

sRN EvaluationGroupType

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

CoLa B (binary)

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

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

Telegram structure: sRA EvaluationGroupType

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

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

CoLa A (ASCII)

<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>

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 (binary)

02 02 02 02 00 00 00 48 73 52 41 20 45 76 61 6C 75 61 74 69 6F 6E 47 72 6F 75 70 54 79 70 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

METHOD

Set Field Evaluation Contour [sMN SetFieldEvaluationContour]¶

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

Telegram structure: sMN SetFieldEvaluationContour

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

Example: sMN SetFieldEvaluationContour

CoLa A (ASCII)

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

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

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

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

CoLa B (binary)

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

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

Telegram structure: sAN SetFieldEvaluationContour

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

Example: sAN SetFieldEvaluationContour - Evaluation conversion successful

CoLa A (ASCII)

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

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

CoLa B (binary)

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

METHOD

Get Field Evaluation Contour [sMN GetFieldEvaluationContour]¶

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

Telegram structure: sMN GetFieldEvaluationContour

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

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

<STX>sMN GetFieldEvaluationContour 1<ETX>

sMN GetFieldEvaluationContour 1

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 (binary)

02 02 02 02 00 00 00 20 73 4D 4E 20 47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 00 01 0D

73 4D 4E 20 47 65 74 46 69 65 6C 64 45 76 61 6C 75 61 74 69 6F 6E 43 6F 6E 74 6F 75 72 20 00 01

Telegram structure: sAN GetFieldEvaluationContour

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

Example: sAN GetFieldEvaluationContour

CoLa A (ASCII)

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

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

CoLa B (binary)

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

READ

Read Field Evaluation Result [sRN FieldEvaluationResult]¶

This telegram returns the status information of all evaluations.

Telegram structure: sRN FieldEvaluationResult

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

Example: sRN FieldEvaluationResult

CoLa A (ASCII)

<STX>sRN{SPC}FieldEvaluationResult<ETX>

<STX>sRN FieldEvaluationResult<ETX>

sRN FieldEvaluationResult

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

CoLa B (binary)

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

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

Telegram structure: sRA FieldEvaluationResult

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

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

CoLa A (ASCII)

<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>

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 03

CoLa B (binary)

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

EVENT

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

CoLa A (ASCII)

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

<STX>sEN FieldEvaluationResult 1<ETX>

sEN FieldEvaluationResult 1

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 (binary)

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

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

CoLa A (ASCII)

<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>

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 03

CoLa B (binary)

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 5D

METHOD

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

CoLa A (ASCII)

<STX>sMN{SPC}StartTeachIn<ETX>

<STX>sMN StartTeachIn<ETX>

sMN StartTeachIn

02 73 4D 4E 20 53 74 61 72 74 54 65 61 63 68 49 6E 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sAN{SPC}StartTeachIn<ETX>

02 73 41 4E 20 53 74 61 72 74 54 65 61 63 68 49 6E 03

CoLa B (binary)

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

METHOD

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

CoLa A (ASCII)

<STX>sMN{SPC}StopTeachIn<ETX>

<STX>sMN StopTeachIn<ETX>

sMN StopTeachIn

02 73 4D 4E 20 53 74 6F 70 54 65 61 63 68 49 6E 03

CoLa B (binary)

02 02 02 02 00 00 00 0F 73 4D 4E 20 53 74 6F 70 54 65 61 63 68 49 6E 14

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

CoLa A (ASCII)

<STX>sAN{SPC}StopTeachIn<ETX>

02 73 41 4E 20 53 74 6F 70 54 65 61 63 68 49 6E 03

CoLa B (binary)

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¶

READ

Request Perpendicular Distance Once [sRN perpendicularDistanceResult]¶

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

Telegram structure: sRN perpendicularDistanceResult

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

Example: sRN perpendicularDistanceResult

CoLa A (ASCII)

<STX>sRN{SPC}perpendicularDistanceResult<ETX>

<STX>sRN perpendicularDistanceResult<ETX>

sRN perpendicularDistanceResult

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

CoLa B (binary)

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

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

Telegram structure: sRA perpendicularDistanceResult

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

Example: sRA perpendicularDistanceResult - 1 configured field

CoLa A (ASCII)

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

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

CoLa B (binary)

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

EVENT

Request Perpendicular Distance Continuously on Event [sEN perpendicularDistanceResult]¶

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

Telegram structure: sEN perpendicularDistanceResult

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

Example: sEN perpendicularDistanceResult

CoLa A (ASCII)

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

<STX>sEN perpendicularDistanceResult 1<ETX>

sEN perpendicularDistanceResult 1

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

CoLa B (binary)

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

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

Telegram structure: sSN perpendicularDistanceResult

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

Example: sSN perpendicularDistanceResult - 1 configured field

CoLa A (ASCII)

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

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

CoLa B (binary)

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

Operating Data¶

READ

Read Operating Hours [sRN ODoprh]¶

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

Telegram structure: sRN ODoprh

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

Example: sRN ODoprh

CoLa A (ASCII)

<STX>sRN{SPC}ODoprh<ETX>

<STX>sRN ODoprh<ETX>

sRN ODoprh

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

CoLa B (binary)

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

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

Telegram structure: sRA ODoprh

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

Example: sRA ODoprh

CoLa A (ASCII)

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

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

CoLa B (binary)

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

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

READ

Read 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

CoLa A (ASCII)

<STX>sRN{SPC}ODopdaily<ETX>

<STX>sRN ODopdaily<ETX>

sRN ODopdaily

02 73 52 4E 20 4F 44 6F 70 64 61 69 6C 79 03

CoLa B (binary)

02 02 02 02 00 00 00 0D 73 52 4E 20 4F 44 6F 70 64 61 69 6C 79 22

73 52 4E 20 4F 44 6F 70 64 61 69 6C 79

Telegram structure: sRA ODopdaily

Telegram part	Description	Variable	Length	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

CoLa A (ASCII)

<STX>sRA{SPC}ODopdaily{SPC}424772B8<ETX>

02 73 52 41 20 4F 44 6F 70 64 61 69 6C 79 20 34 32 34 37 37 32 42 38 03

CoLa B (binary)

02 02 02 02 00 00 00 12 73 52 41 20 4F 44 6F 70 64 61 69 6C 79 20 42 47 72 B8 C2

READ

Read Power on Counter [sRN ODpwrc]¶

Shows the number of power on cycles.

Telegram structure: sRN ODpwrc

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

Example: sRN ODpwrc

CoLa A (ASCII)

<STX>sRN{SPC}ODpwrc<ETX>

<STX>sRN ODpwrc<ETX>

sRN ODpwrc

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

CoLa B (binary)

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

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

Telegram structure: sRA ODpwrc

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

Example: sRA ODpwrc

CoLa A (ASCII)

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

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

CoLa B (binary)

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

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}OPcurtmpdev<ETX>

<STX>sRN OPcurtmpdev<ETX>

sRN OPcurtmpdev

02 73 52 4E 20 4F 50 63 75 72 74 6D 70 64 65 76 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRA{SPC}OPcurtmpdev{SPC}420C0000<ETX>

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 (binary)

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

READ

Read 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

CoLa A (ASCII)

<STX>sRN{SPC}DIpara<ETX>

<STX>sRN DIpara<ETX>

sRN DIpara

02 73 52 4E 20 44 49 70 61 72 61 03

CoLa B (binary)

02 02 02 02 00 00 00 0A 73 52 4E 20 44 49 70 61 72 61 40

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

CoLa A (ASCII)

<STX>sRA{SPC}DIpara{SPC}A{SPC}09.01.2024<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}DIparatm<ETX>

<STX>sRN DIparatm<ETX>

sRN DIparatm

02 73 52 4E 20 44 49 70 61 72 61 74 6D 03

CoLa B (binary)

02 02 02 02 00 00 00 0C 73 52 4E 20 44 49 70 61 72 61 74 6D 59

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

CoLa A (ASCII)

<STX>sRA{SPC}DIparatm{SPC}5{SPC}12:28<ETX>

02 73 52 41 20 44 49 70 61 72 61 74 6D 20 35 20 31 32 3A 32 38 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}temperatureAlarmStatus<ETX>

<STX>sRN temperatureAlarmStatus<ETX>

sRN temperatureAlarmStatus

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 (binary)

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

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

CoLa A (ASCII)

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

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 (binary)

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

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}temperatureAlarmConfiguration{SPC}37{SPC}32<ETX>

<STX>sWN temperatureAlarmConfiguration 37 32<ETX>

sWN temperatureAlarmConfiguration 37 32

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 (binary)

02 02 02 02 00 00 00 24 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 37 32 00

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 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

CoLa A (ASCII)

<STX>sWA{SPC}temperatureAlarmConfiguration<ETX>

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 6E 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}temperatureAlarmConfiguration<ETX>

<STX>sRN temperatureAlarmConfiguration<ETX>

sRN temperatureAlarmConfiguration

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 (binary)

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

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

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

CoLa A (ASCII)

<STX>sRA{SPC}temperatureAlarmConfiguration{SPC}37{SPC}32<ETX>

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 33 37 20 33 32 03

CoLa B (binary)

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

Cybersecurity¶

WRITE

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

CoLa A (ASCII)

<STX>sWN{SPC}EtherCoLaScanMode{SPC}2<ETX>

<STX>sWN EtherCoLaScanMode 2<ETX>

sWN EtherCoLaScanMode 2

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 (binary)

02 02 02 02 00 00 00 17 73 57 4E 20 45 74 68 65 72 43 6F 4C 61 53 63 61 6E 4D 6F 64 65 20 02 3B

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

CoLa A (ASCII)

<STX>sWA{SPC}EtherCoLaScanMode<ETX>

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRN{SPC}EtherCoLaScanMode<ETX>

<STX>sRN EtherCoLaScanMode<ETX>

sRN EtherCoLaScanMode

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 (binary)

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

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

CoLa A (ASCII)

<STX>sRA{SPC}EtherCoLaScanMode{SPC}3<ETX>

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 (binary)

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

WRITE

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

CoLa A (ASCII)

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

<STX>sWN EIAuxEnable 1<ETX>

sWN EIAuxEnable 1

02 73 57 4E 20 45 49 41 75 78 45 6E 61 62 6C 65 20 31 03

CoLa B (binary)

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

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

CoLa A (ASCII)

<STX>sWA{SPC}EIAuxEnable<ETX>

02 73 57 41 20 45 49 41 75 78 45 6E 61 62 6C 65 03

CoLa B (binary)

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

METHOD

Set Webserver State [sMN SetWebserverEnabled]¶

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

Telegram structure: sMN SetWebserverEnabled

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

Example: sMN SetWebserverEnabled

CoLa A (ASCII)

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

<STX>sMN SetWebserverEnabled 1<ETX>

sMN SetWebserverEnabled 1

02 73 4D 4E 20 53 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 20 31 03

CoLa B (binary)

02 02 02 02 00 00 00 19 73 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

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

CoLa A (ASCII)

<STX>sAN{SPC}SetWebserverEnabled<ETX>

02 73 41 4E 20 53 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 03

CoLa B (binary)

02 02 02 02 00 00 00 18 73 41 4E 20 53 65 74 57 65 62 73 65 72 76 65 72 45 6E 61 62 6C 65 64 20 2E

METHOD

Read Webserver State [sMN GetWebserverEnabled]¶

Returns state if Webserver is enabled.

Telegram structure: sMN GetWebserverEnabled

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

Example: sMN GetWebserverEnabled

CoLa A (ASCII)

<STX>sMN{SPC}GetWebserverEnabled<ETX>

<STX>sMN GetWebserverEnabled<ETX>

sMN GetWebserverEnabled

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

CoLa B (binary)

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

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

Telegram structure: sAN GetWebserverEnabled

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

Example: sAN GetWebserverEnabled

CoLa A (ASCII)

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

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

CoLa B (binary)

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

Detection History¶

WRITE

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

CoLa A (ASCII)

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

<STX>sWN EnableDetectionHistory 1<ETX>

sWN EnableDetectionHistory 1

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 (binary)

02 02 02 02 00 00 00 1C 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 01 47

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 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

CoLa A (ASCII)

<STX>sWA{SPC}EnableDetectionHistory<ETX>

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 (binary)

02 02 02 02 00 00 00 1B 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 20 49

READ

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

CoLa A (ASCII)

<STX>sRN{SPC}EnableDetectionHistory<ETX>

<STX>sRN EnableDetectionHistory<ETX>

sRN EnableDetectionHistory

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 (binary)

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

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

CoLa A (ASCII)

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

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 (binary)

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

METHOD

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

CoLa A (ASCII)

<STX>sMN{SPC}ResetDetectionHistory<ETX>

<STX>sMN ResetDetectionHistory<ETX>

sMN ResetDetectionHistory

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 (binary)

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

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

CoLa A (ASCII)

<STX>sAN{SPC}ResetDetectionHistory<ETX>

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 (binary)

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

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