Maximum edge filter range (range limitation)
The maximum distance can be set up to 16,000 mm. The measuring points in the
parameterized range are taken into account.
3.5.9 Multi-plane technology
The multi-plane technology of the device uses 4 scan planes at different vertical angles
to compensate for pitch angle, for example when the device is attached to a vehicle.
This enables the device to reliably detect an object even, for example, when the vehicle
accelerates or brakes.
Figure 27: Multi-plane technology
1
LiDAR sensor
2
Scan planes
3
Object
3.5.10 Scan data output
The device has 4 modules, each of which scans one plane.
The scan data is always outputted on a per module basis (scan plane). The data for a
specific plane is outputted every 20 ms. The device requires 80 ms to output the data
for all four planes.
In the data message, the individual scans and the associated scan planes are identi‐
fied by their time stamp and location address.
Data message:
<STX>sSN LMDscandata 1 0 1053B01 0 0 8531 8531 299855DA 2A6073CC 0 0 0 0 0 1388 B4 ...
<STX>sSN LMDscandata 1 0 1053B01 0 0 8532 8532 2998A3BB 2A60C6C8 0 0 0 0 FF06 1388 B4 ...
<STX>sSN LMDscandata 1 0 1053B01 0 0 8533 8533 2998F1CF 2A61100C 0 0 0 0 FA 1388 B4 ...
<STX>sSN LMDscandata 1 0 1053B01 0 0 8534 8534 29993FE6 2A615E0B 0 0 0 0 FE0C 1388 B4 ...
Time stamp:
•
Line 1: 299855DA = 697849306 = 697849.306 ms
•
Line 2: 2998A3BB = 697869243 = 697869.243 ms
•
Difference = 20 ms (corresponds to a scan data output at 50 Hz)
3 PRODUCT DESCRIPTION
24
O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK
Subject to change without notice
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