SICK LMS4000

Telegram part Description Variable Length Values CoLa A (ASCII) Values CoLa B (binary)
Status
info
Telegram
counter
Number of measure‐
ment telegrams fin‐
ished in the scanner
and given to the
interface.
1
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
Counting the time
since power up the
device; starting with
0. In the output
telegram this is the
time at the zero
index before the
measurement itself
starts.
Uint_32 4 0h … FFFFFFFFh 00 00 00 00 … FF FF
FF FF
Time of
transmis‐
sion in µs
Time in µs when the
complete scan is
transmitted to the
buffer for data out‐
put; starting with 0
at scanner bootup.
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 × 1 All inputs low: 0 0
IN1 high: 1 0
IN2 high: 2 0
IN1+2 high: 3 0
All inputs low: 00 00
IN1 high: 01 00
IN2 high: 02 00
IN1+2 high: 03 00
Status of
digital out‐
puts
Low byte represents
output 1
Uint_8 2 × 1 All outputs low: 0 0
OUT1 high: 1 0
OUT2 high: 2 0
OUT1+2 high: 3 0
OUT4 high: 8 0
OUT1+4 high: 9 0
OUT2+4 high: A 0
OUT1+2+4 high: B 0
All outputs low: 00 00
OUT1 high: 01 00
OUT2 high: 02 00
OUT1+2 high: 03 00
OUT4 high: 08 00
OUT1+4 high: 09 00
OUT2+4 high: 0A 00
OUT1+2+4 high: 0B 00
Layer
angle
– Uint_16 2
0 00 00
Frequen‐
cies
Scan fre‐
quency
Output format:
1/100 Hz
Uint_32 4 600 Hz: EA60h 600 Hz: 00 00 EA 60
Measure‐
ment fre‐
quency
Inverse of the time
between two mea‐
surement shots (in
1/100 Hz):
LMS4000 =
864000 Hz
Uint_32 4
21C0 00 00 21 C0
Amount of encoder If 0, then next two
values are missing.
Enum_16 2
0
External encoder: 1
00 00
External encoder: 00 01
Values Encoder
position
Info in ticks Uint_32 4 0h … FFFFFFFFh 00 00 00 00 … FF FF
FF FF
Encoder
speed
Ticks/mm Uint_16 2
0 00 00
12 ANNEX
56
O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK
Subject to change without notice