SICK LMS系列应用及调试

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1、TimeOfFlightMeasurementrange80m250mLD-LRSLD-OEM34m250mLMS2X130m80mLMS2XX80m10mLMS400=@10%reflectivity3m=Max.DistancePreparedbySICKChinaPage:2-24TimeOfFlightAngularRange360°300°180°180°100°LD-LRSLD-LRSLD-OEM90°LMS22170°LMS200LMS211LMS211-S14LMS400PreparedbySICKChi

2、naPage:3-24TimeOfFlightLMSLaserscannerPrincipleoftime-of-flightmeasurementPreparedbySICKChinaPage:4-24TimeOfFlightLMS211-S14/S27•最远距离80米、10％反射率30米。•扫描频率75HZ/扫描周期13.33ms。•扫描角度90度、角度分辨率0.5度。•使用温度-30～50度。•RS232/422/Ethernet。•防护等级IP67。PreparedbySICKChinaPage:5-24Time

3、OfFlightPreparedbySICKChinaPage:6-24TimeOfFlightPreparedbySICKChinaPage:7-24TimeOfFlightPreparedbySICKChinaPage:8-24TimeOfFlightPreparedbySICKChinaPage:9-24TimeOfFlightPCLMSTelegramHeaderTelegramEndSTXADRLENCMDDataStatusCRC8Bit8Bit16Bit8BitDependonCMD#8Bit16Bit

4、PreparedbySICKChinaPage:10-24TimeOfFlightPCLMSTelegramHeaderSTXADRLENLENCMD8Bit8BitLowByteHighByte8BitSTX00000010StartByte02hADR00000000ToLMS:Addressofthesubscribercontacted“0”BroadcasttoallLMS“1-7F”addressofsingleLMS10000000ToPC:AddressofLMS+80hLEN(l)00000010L

5、engthofTGMbycountingBytesLEN(h)00000000FirstByteCMD,lastByteStatusCMD0000000ToLMSCommandofollowedbysubcommandsToPCTheLMSanswerstoHost:CMD+80hPreparedbySICKChinaPage:11-24TimeOfFlightPCLMSTelegramEndStatusCRC8Bit16BitStatusToLMS:NOTinTelegram0:NoErrorxxxxx0001:I

6、nfoxxxxx0012:Warningxxxxx0103:Errorxxxxx0114:FatalErrorxxxxx1000:LMS-xx1up-xx4xxx00xxx1:LMIxxx01xxxxxx10xxx2:LMS-xx6xxx11xxx3:SpecialDevicexx1xxxxxStatusofDigitalInputx1xxxxxxincorrectvalues1xxxxxxxPollutionCRC(l)0000000x^16+x^15+x^2+1CRC(h)0000000CCodeExamplesin

7、DocumentationPreparedbySICKChinaPage:12-24TimeOfFlightReceiveBytesSTX:ADR:LEN:LEN:CMD:DATA:STATUS:CRCBytePosition:1:2:3:4:5:nx8:(nx8)+1:(nx8)+2Data(exampleforreceiveddata=B0H):2Byte+nx2Byte(Low,High)100°;1°=204ByteTotal=204+8=212Byte100°;0,5°=404=412100°;0,25°=80

8、4=812180°;1°=364=372180°;0,5°=724=734180°;0,25°=1444=1452PreparedbySICKChinaPage:13-24TimeOfFlightPCLMSPreparedbySICKChinaPage:14-24TimeOfFlightPCLMS020002