SICK microScan3

Structure Data type Length in bytes Offset in bytes Description
~ ~ ~
Number of beams UDInt 4
Offset (Block
measurement data)
+ 0
Measurement data
1)
Distance UInt 2
Offset (Block
measurement data)
+ 4 + (4 × be
am number)
Unit: mm
RSSI USInt 1
Offset (Block
measurement data)
+ 4 + (4 × be
am number) + 2
RSSI
•
An R
SSI value is output for each beam.
•
This value depends on the strength of the received signal/
beam.
•
This value correlates (not linearly) with the physical signal level.
At a higher signal level, the value changes are smaller.
•
The RSSI is high for light (white) objects and for objects with
shiny surfaces that directly reflect the beam back at the safety
laser scanner.
•
The RSSI is very high for retroreflectors.
•
For dark objects and objects with shiny surfaces that the beam
hits at a flat angle, the RSSI is low. Example: At a flat angle, the
surface of a display or monitor delivers very low RSSI values or
is not recognized at all.
•
Objects at a larger distance delivers lower RSSI values than
objects at a smaller distance. (The RSSI values can behave dif‐
ferently for retroreflectors.)
Status SCont 1
Offset (Block
measurement data)
+ 4 + (4 × be
am number) + 3
Bits 0: Valid
Bit 1: N
o reflected light pulse received
Bit 2: Dazzle
Bit 3: Reflector
Bit 4: Contamination error
Bit 5: Contamination warning
~ ~ ~
1)
A data field per beam. The data field is repeated n times. (n = number of beams).
2))
The reflector flag indicates that the beam has hit a retroreflector. This information can be used for navigation, for example, using permanently installed retroreflectors.
In indi
vidual cases, the cause of the reflector flag can also be an edge in the spatial contour that is double-reflected by a beam.
7 ANNEX
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T E C H N I C A L I N F O R M A T I O N | microScan3, outdoorScan3 8022708/2019-04-15 | SICK
Subject to change without notice