<command>
<identifier>
<arg1>
<arg2>
...
<argN>
The ACK message has the following syntax:
<STX><ACK Command> <identifier> <errorCode> <returnValue1> <returnValue2>
... <returnValueN> <errorMessage><ETX>
where <STX> and <ETX> are the START OF TEXT and END OF TEXT characters (ASCII codes
2 and 3 respectively).
The command is sent as an ASCII string. The combination of a command with its parameters
will either change the device's configuration or fetch information from the device. For more
command examples see Section B.6, “Command examples” (page 75) and Section B.1,
“Command syntax” (page 52).
4.3.3 Select reference object
To enable reference object selection via Ethernet Raw do the following:
1. Choose Interface and I/O Settings from the InspectorPIM60 menu.
2. In the Interface tab choose Ethernet and Ethernet Raw in the listbox.
To select reference object via the command channel, use the command sINT 1 <object
index>. The object index that corresponds to each reference object is shown in the Reference
objects list in the Main view.
4.3.4 Image triggering
It is possible to trigger image acquisition via Ethernet. The communication runs on UDP or
TCP port 2116 (configurable). In order to use this function the triggering has to be enabled
in SOPAS Single Device. In the InspectorPIM60 menu and Interfaces and I/O settings dialog check
the Ethernet box and in the list Ethernet Raw in the Interfaces tab. For the selected reference
object, choose Triggered by Ethernet in the Image settings tab.
4.3.5 Single port solution
In real-time applications, the Inspector is controlled using three ports. However, it is possible
to use only the command port (default 2115) to control the sensor. The single port solution
is only recommended for applications where the cycle time is significantly larger than the
image analysis time. One reason for this is that the image acquisition has a lower priority on
the command port. Another reason is that the Ethernet Result string must be retrieved from
the sensor, therefore image trig and result handling cannot be performed in parallel when
using the single port solution.
This is how the Inspector is controlled by using only the command port:
• The image acquisition is performed by the TRIG command (with lower priority).
• The Ethernet Result Output string is retrieved explicitly by the controlling device, e.g. a PLC.
This is done by the command gRES. The sensor does not send the result automatically on
this port.
• All other commands on the command channel are available as in the standard three port
solution.
27
©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved
Subject to change without notice
8015726/2013-11
Interfaces
Ethernet Raw
Reference Manual
Inspector PIM
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