SICK microScan3 Technical Information

A complete transmission consists of a pair of these byte streams. After a method invo‐
c
ation (see "Calling up methods", page 34), the SICK sensor sends two answers:
immediately a confirmation and later a result.
Figure 10: Layer 7.2, command layer
T
able 9: Layer 7.2, command layer
Element Length (bytes) Function
SessionID 4 (Big Endian) The server (SICK sensor) defines this 32-bit value when
s
tructuring the session with a client. The entire commu‐
nication between these two partners must be marked
with the session ID.
ReqID 2 (Big Endian) Using the ReqID, the client can assign the answer of the
SIC
K sensor its own request.
Within one session, the client numbers all requests. The
server (SICK sensor) returns the ReqID together with its
answer.
Cmd 1 This byte contains the command to the server (SICK sen‐
sor).
T
he server returns Cmd and changes the rest of the
telegram according to the sensor-specific specification of
the command.
Mode 1 Modifier for Cmd.
All servers (SICK sensors) understand a basic command
set. In addition, some variables are available for all
servers for reading or writing. In addition, many SICK
sensors have specific parameters.
IndexName, data (Variable) Specific data depending on Cmd and dir
ection of trans‐
mission.
7.2.2.2.1 Byte sequence
The byte sequence after the bytes Cmd and Mode depends on t
he components of a sen‐
sor and differs for many different servers (SICK sensors):
•
For Big Endian, the Most Significant Byte of a value is sent first (Motorola format).
•
For Little Endian, the Least Significant Byte of a value is sent first (Intel format).
The device uses Little Endian.
The client must convert the values if needed.
Example: the variable Angle has the index 35 (0x23) and should be assigned the value
456 (0x1C8):
Byte sequence Addressing Request Response
Big endian Index
WI<0x00><0x23><0x01
><0xC8>
WA<0x00><0x23>
Name
WN_Angle_<0x01><0xC
8>
WA_Angle_
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
31
Subject to change without notice

SICK microScan3 Specifications

General

Brand	SICK
Model	microScan3
Category	Scanner
Language	English