SICK microScan3

7.2 Appendix B: Communication via CoLa2
Overview
C
oLa2 (Command Language 2) is a protocol from SICK, with which a client (control, PC
etc.) can access suitable SICK sensors via a network (TCP/IP) or USB.
CoLa2 is described in general in the following. You will find device-specific information
in the other chapters.
Important information
DANGER
D
anger of using CoLa2 for safety function
CoLa2 may only be used for general monitoring and control tasks.
b
Do not use CoLa2 for safety-related applications.
Further topics
•
"C
oLa2 interface of the safety laser scanner", page 17
•
"Appendix C: CoLa2 variables and methods of the safety laser scanner", page 37
•
"Appendix D: Examples of communication via CoLa2", page 58
7.2.1 Overview
How clients (controls, PCs etc.) connect with SICK sensors (servers) via CoLa2 is
de
scribed below.
In this context, every IT device counts as a client, for which the following applies:
•
The device accesses SICK sensors.
•
The device evaluates the characteristics of SICK sensors.
•
The device sends data or commands to SICK sensors.
•
The device receives data from SICK sensors.
•
The device uses connected SICK sensors.
The communication protocols underneath the application layer (ISO-/OSI layers 1 … 6)
are not described.
It is assumed that the communication is transparent and error-free, with the following
exceptions:
•
Connection loss.
•
Connection blockades when there are full transmit queues.
7.2.2 Overview of the telegram format
The protocol defines 2 headers:
•
He
ader of the layer 7.1, message layer
°
Synchronization of the direct communication partners
°
Specification of the length of the telegram
°
High-level routing information for information receivers (server or client) in the
SICK sensor network
•
Header of the layer 7.2, command layer
°
Session ID that connects 2 end-to-end partners
°
Request ID that connects a client request with the answer of the server (SICK
sensor)
°
Command that is sent to the server (SICK sensor) or answer of the server
°
Additional information, depending on the command and the transmission
direction
ANNEX 7
8022708/2019-04-15 | SICK T E C H N I C A L I N F O R M A T I O N | microScan3, outdoorScan3
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Subject to change without notice