Quick Manual

LMS communication setup

Quick Manual for

LMS communication setup

Hardware setup and

measurement mode configuration

Version 1.0 June 2001 (HW/MV)

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 Quick Manual

LMS communication setup

Contents

A. INTRODUCTION 3

1. Basics of the LMS System 3

B. HARDWARE SETUP 4

1. Before you start ... : Required components 4

2. Power supply 5

3. Serial interface for data exchange 7

C. COMMUNICATION SETUP, SOFTWARE 9

1. Overview Schematic for LMS communication setup 9

2. Establish communication with LMS 9

3. LMS default settings 10

4. Changing the baudrate 10

5. Setting different LMS resolution modes 10

6. Setting the LMS measurement mode 11

7. Starting continuous data output from the LMS 12

8. Interpreting/parsing the received data 13

9. Stopping the continuous data output 14

D. APPENDICES: 14

1. LMS data output format syntax 14

2. LMS in High-Speed Mode 15

3. Status Byte Information 17

4. Further information and documentation 18

! This is a quick start manual. For extended information please refer to the documents
listed in section D.4. !

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LMS communication setup

A. Introduction
1. Basics of the LMS System

The Laser Measurement System LMS 200, LMS

220, LMS 211, LMS 221, LMS 291 is based on a
time-of-flight measurement principle (Laser Radar).
A single Laser pulse is sent out and reflected by an
object surface within the range of the sensor. The
elapsed time between emission and reception of the
Laser pulse serves to calculate the distance between
object and LMS.
Via a integrated rotating mirror the Laser pulses
sweep a radial range in front of the LMS unit. A 2-
dimensional measurement field / detection area is
defined.
(For further details please refer to the Technical Description
Laser Measurement Systems SICK order no.: 8008970) Fig.1: Measurement principle LMS

Main benefits of this measurement principle are:

• Detection of objects independent of object color
and surface structure
• Reliable detection of object presence

The Laser Measurement System LMS offers a

solution for a large range of applications:
• Determining the volumes of objects (measuring
packages, pallets, containers)
• Determining the position of objects (pallets,
containers, transport vessels) Fig.2: Angular range LMS
• Collision prevention for vehicles or cranes
• Controlling docking processes (positioning)
• Classification of objects (vehicle detection, camera trigger)
• Process automation (e.g. calander rollers)
• Checking overhang/area monitoring in automated multi-storey car parks
• Determining the volumes or contours of bulk materials
• Monitoring open spaces for building security (facades, grounds, shafts)
• ... and many more

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LMS communication setup

B. Hardware setup
1. Before you start ... : Required components
As a minimum requirement to set up an LMS sensor with a data connection to a PC, the following
components are required:

For LMS200/LMS291:
Item/Specification Description SICK order number
1 x LMS unit with cable LMS200-30106 1015850
connectors LMS291-S05 1018028
1 x power supply 24 V DC +- Power supply DC 24V / 2.5 A 6010361
15%, min. 2.5 A
1 x cable for power supply Cable set 1: 5 m length 2018964
and output signals (open
cable ends Cable set 2: 10 m length 2018965
1 x cable for data interface

For LMS211/LMS220/LMS221:
Item/Specification Description SICK order number
1 x LMS unit with cable LMS211-30206 1018023
connectors LMS220-30106 1015945
LMS221-30206 1018022
1 x power supply 24 V DC +- Power supply DC 24V / 2.5 A 6010361
15%, min. 2.5 A for LMS
electronics
1 x power supply 24 V DC +- Power supply DC 24V / 10 A 6011156
15%, min. 5 A for LMS
heating
1 x cable for power supply Cable set: 5 m length 2019561
and output signals (open
cable ends
1 x cable for data interface

Note: In case of longer cables, please source your own cable. Please make sure to use correct
cable diameters to avoid voltage drops along large cable lengths.

• Suitable brackets, mounting.

A laptop or desktop computer serves as user interface with the LMS unit. The computer is
connected via a serial interface:
• RS232 interface (up to 10 m cable length) (standard COM1 or COM2 in most computers)
• RS422 interface (up to 1200 m cable length) (special interface card required)

In case a high-speed data transmission is required, SICK offers special interface boards for 500
kBaud transmission rate. For details and information please refer to section D.2.

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LMS communication setup

2. Power supply

The LMS unit is supplied with 24 V DC +/- 15%. Depending on the length of the power supply
cable, the power supply needs to provide sufficient current.

Due to the LMS models, connection diagrams are different for LMS200/LMS291 and
LMS220/211/221.

a. For LMS 200 / LMS 291

LMS 200 Control Cabinet

LMS 291
Power Supply
24 V DC

Pin assignment:
Pin Signal designation Input/ Wire
No. Output color
1 GND_EXT (ground) Supply brown
2 Restart Input blue
3 VCC_EXT (24V DC +- 15%) Supply red
4 Not connected - -
5 OUT C (for field detection)/ Output grey
weak signal
6 Not connected - -
7 Not connected - -
8 OUT B (for field detection) Output turquoise
9 OUT A (for field detection) Output orange

Note: Minimum connections marked in bold

PIN 5 / 8 / 9 cannot be used for data processing purposes with the LMS sensor

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LMS communication setup

b. For LMS 211 / LMS 220 / LMS 221

Control Cabinet

Electronics Power Supply

LMS 211 24 V DC
LMS 220
LMS 221
Power Supply
Heating 24 V DC

Fig.2: Connections on backplane of LMS211/LMS220/LMS221

Pin assignment:
Pin Signal designation Input/ Remark
No. Output
1 RxD- Interface
2 RxD+ Interface
3 RS232/RS422 Jumper 1 With jumper à RS422
Without jumper à RS232 (default)
4 GND_EXT for heating Supply
5 Flap control Input For flap control details please refer to
technical description
6 Not connected -
7 OUT C (for field detection)/ Output
weak signal
8 GND_EXT for electronics Supply
9 TxD- Interface
10 TxD+ Interface
11 RS232/RS422 Jumper 2
12 VCC_EXT for heating Supply
13 OUT A (for field detection) Output
14 OUT A (for field detection) Output
15 Restart
16 VCC_EXT for electronics Supply

Note: Minimum connections marked in bold

Use separate cables for connecting the scanner electronics and the heating.
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LMS communication setup

3. Serial interface for data exchange

For data exchange in measuring tasks, the LMS is equipped with a serial RS 232 / RS 422
interface.
By setting a jumper, RS422 or RS232 can be enabled. Default setting is RS232.

a. Connection of the RS 232 interface.

1. For LMS 200 / LMS 291:

Pin assignment:
LMS PC
Signal designation PIN No. PIN No. Signal designation
Not connected 1 1 NC
RxD 2 2 RxD
TXD 3 3 TXD
Not connected 4 4 Not connected
GND 5 5 GND
Not connected 6 6 Not connected
Not connected 7 7 Not connected
Not connected 8 8 Not connected
Not connected 9 9 Not connected

Note: PINs 2 and 3 are crossed in the cable.

The connector at the PC side is a 9 pin DSub

2. For LMS 211 / LMS 220 / LMS 221

Fig.3: Wiring of the RS232 for LMS211/LMS220/LMS221

Note: The connector at the PC side is a 9 pin DSub

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LMS communication setup

b. Connection of the RS 422 interface

1. For LMS 200 / LMS 291

Pin assignment:
LMS PC
Signal designation PIN No. PIN No. Signal designation
RxD- 1 1 RxD-
RxD+ 2 2 RxD+
TxD- 3 3 TxD-
TxD+ 4 4 TxD+
GND 5 5 GND
Not connected 6 6 Not connected
Jumper 1 7 7 Not connected
Jumper 2 8 8 Not connected
Not connected 9 9 Not connected

Note: As there is no standard for RS422 connector pinning, please check the signal
assignments of your RS422 interface card to the respective PINs. Refer to the
documentation of your RS422 interface board manufacturer.
In case of deviations, change the cable assignments accordingly.

For selection of the RS422, there needs to be a jumper connection between between
PINs 7 and 8 on the LMS side inside the cable connector.
PINs 2 and 3 are crossed in the cable, PINs 1 and 4 are crossed in the cable. It is
recommended to use twisted pair cables for RS422 connections.

2. For LMS 211 / LMS 220 / LMS 221

Fig.3: Wiring of the RS232 for LMS211/LMS220/LMS221

Note: For selection of the RS422, there needs to be a jumper connection between between
PINs 3 and 11 on the LMS side in the cable connector.
PINs 2 and 3 are crossed in the cable, PINs 1 and 4 are crossed in the cable. It is
recommended to use twisted pair cables for RS422 connections.

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LMS communication setup

C. Communication setup, software

1. Overview Schematic for LMS communication setup

2. Establish communication with LMS

After power connection of the LMS, the yellow AND red indicators are active until the start-up
procedure has been completed.
When ONLY either the green OR the red LED indicator is active, the unit is ready for
communication.
Additionally, a startup message is sent with 9600 baud via the serial interface to the
connected PC. (Note: The transmission rate is reset to 9600 baud after a power down)
LMS start-up message in hex LMS à PC
02 81 17 00 90 4C 4D 53 32 30 30 3B 33 30 31 30 36 33 3B 56 30 32 2E 30 36 20 13 64 5A

To test the communication link to the connected

LMS, it is recommended to send the LMS status
Start request command.
(9600 8 N 1 baud in PC program)

Command for LMS status request:

Send LMS
Telegram code in hex Telegram code in hex
status command
PC à LMS LMS à PC
02 00 01 00 31 15 12 06 02 81 ...
a jumble of bytes
Status containing the LMS
command Change version number etc.
accepted n PC baudrate Refer to section D.5.
?

y Note: The permanent or temporary red indicator

shows an infringement of one of the fields defined in
Send other the internal LMS memory. This quick manual does
commands
not address field programming of the LMS. If no
fields are defined or no field is infringed, the green
indicator will be permanently active.

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LMS communication setup

3. LMS default settings

When the LMS leaves the factory, the following parameters apply as the default:

Parameter Value Remark

LMS200/LMS220 LMS211/LMS221/LMS291
Serial interface 9600 baud Selection of RS232 or
8 data bits RS422 is done via a
no parity
1 stop bit
jumper in the LMS cable
no flow control connector (refer to
section B.3.)
Commands see section 4.
Angular range 0° .. 180° 0° .. 100° (LMS211) Commands see section 5.
0° .. 180° (LMS221/291)
Angular resolution 0.5° 0.5° Commands see section 5.
Distance mm cm Commands see section 6.
measurement
mode

These defaults may be changed with the commands described in this manual. Most
applications can be served by changing/adaptation of the above defaults.
In case more details are required, please contact your local SICK representative.

4. Changing the baudrate

After a power-down of the LMS unit, the transmission baudrate is reset to 9600 baud.
To access the LMS measurement data at a higher baudrate, it is required to change to a
higher baudrate after each power-down with one of the following commands:

LMS baudrate Telegram code in hex Reply telegram in hex

setting PC à LMS LMS à PC
9600 baud 02 00 02 00 20 42 52 08 06 02 81 03 00 A0 00 10 36 1A
19200 baud 02 00 02 00 20 41 51 08 06 02 81 03 00 A0 00 10 36 1A
38400 baud 02 00 02 00 20 40 50 08 06 02 81 03 00 A0 00 10 36 1A

Note: Changing the baudrate with the above commands disrupts the communication link
between LMS and PC. To resume communication with the LMS, it is necessary to
change to the new baudrate in the PC program as well.

5. Setting different LMS resolution modes

The LMS can supply distance data in the following formats:

• Angular range: 0° ... 100° or 0°... 180°
• Angular resolution: 1°, 0.5°, 0.25° (only for 100°)

Depending on the selected format, different numbers of distance data values will be supplied.
Angular range Angular resolution Number of data values
0° .. 100° 1° 101
0° .. 100° 0.5° 201
0° .. 100° 0.25° 401
0° .. 180° 1° 181
0° .. 180° 0.5° 361

For the output data string format syntax, please refer to appendix A.
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LMS communication setup

The different modes can be selected by sending a corresponding settings telegram from the
PC to the LMS.

Note:
After each settings telegram, an ACK acknowledgement AND a reply telegram from the LMS
need to be received by the PC. Only after having received the complete reply telegram, the
setting has been successfully implemented in the LMS and the next telegram can be sent.
Intermediate telegram will be ignored.

LMS mode Telegram code in hex Reply telegram in hex

Angular Angular PC à LMS LMS à PC
range resolution
0°..100° 1° 02 00 05 00 3B 64 00 64 00 1D 0F 06 02 81 07 00 BB 01 64 00 64 00 10 4A 3F
0°..100° 0.5° 02 00 05 00 3B 64 00 32 00 B1 59 06 02 81 07 00 BB 01 64 00 32 00 10 12 92
0°..100° 0.25° 02 00 05 00 3B 64 00 19 00 E7 72 06 02 81 07 00 BB 01 64 00 19 00 10 BE C4
0°..180° 1° 02 00 05 00 3B B4 00 64 00 97 49 06 02 81 07 00 BB 01 B4 00 64 00 10 5E B2
0°..180° 0.5° 02 00 05 00 3B B4 00 32 00 3B 1F 06 02 81 07 00 BB 01 B4 00 32 00 10 06 1F

Fig.: Measurement range 0° .. 180° Fig.: Measurement range 0° .. 100°

(View from above, scan from right to left)
(View from above, scan from right to left)

6. Setting the LMS measurement mode

Depending on the application, the LMS can be set to measure the distance in two different
ways.

Mode Measurement/
detection range
mm mode 0 .. 8191 mm = 8.191 meters
cm mode 0 .. 8191 cm = 81.91 meters

Note: Measurements in the cm mode are not as accurate as in the mm mode. Please
refer to the Technical Description for details on the estimation of accuracies in
specific application environments.

a. Switch to mm mode
To switch to different measurement modes, it is necessary to enable the LMS “Settings
Mode”.
LMS distance Telegram code in hex Reply telegram in hex
mode PC à LMS LMS à PC
1. Settings 02 00 0A 00 20 00 53 49 43 4B 5F 4C 4D 06 02 81 03 00 A0 00 10 36 1A
53 BE C5
mode
02 00 21 00 77 00 00 00 00 00 0D 01 00 06 02 81 23 00 F7 00 00 00 46 00 00
00 02 02 00 00 00 00 00 00 00 00 00 00 0D 01 00 00 02 02 00 00 00 00 00 00
2. Switch to
00 00 00 00 00 00 00 00 00 00 00 34 C7 00 00 00 00 00 00 00 00 00 00 00 00
mm mode 00 00 00 10 FA EA

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LMS communication setup

b. Switch to cm mode
To switch to different measurement modes, it is necessary to enable the LMS “Settings
Mode”.
LMS distance Telegram code in hex Reply telegram in hex
mode PC à LMS LMS à PC
1. Settings mode 02 00 0A 00 20 00 53 49 43 4B 5F 4C 4D 06 02 81 03 00 A0 00 10 36 1A
53 BE C5
2. Switch to 02 00 21 00 77 00 00 00 00 00 0D 00 00 06 02 81 23 00 F7 00 00 00 46 00 00
cm mode 00 02 02 00 00 00 00 00 00 00 00 00 00 0D 00 00 00 02 02 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 20 CB 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 10 D2 F2

Note:
After each settings telegram, an ACK acknowledgement AND a reply telegram from the LMS
need to be received by the PC. Only after having received the complete reply telegram, the
setting has been successfully implemented in the LMS and the next telegram can be sent.
For the change between cm and mm mode, it can take up to 7 sec until the reply telegram is
sent from the LMS. Intermediate telegrams will be ignored.

7. Starting continuous data output from the LMS

Once all required settings are completed, the LMS needs a command to send the
measurement data to the PC.
In contrast to data-polling applications, the LMS sends a continuous stream of data via the
serial interface.
The data output is formatted according to the syntax described in section D.2. of this manual.

LMS continuous Telegram code in hex Data stream in hex

data output PC à LMS LMS à PC
Start 02 00 02 00 20 24 34 08 06 02 81 03 00 A0 00 10 36 1A
<output string header> < LMS data >
(refer to section D.2.)

Note: Before any further settings telegrams can be sent to the LMS, the continuous data
output needs to be stopped by a special command.
(à refer to section C.9.)

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LMS communication setup

8. Interpreting/parsing the received data

A typical PC program for monitoring and processing tasks needs to perform the following
operations:
LMS data evaluation programs have been
Start written in different programming environments.
For basic sending of command telegrams and
Prepare monitoring of PC ßà LMS communications, a
data structure for standard terminal program can be used.
LMS data capture
For sophisticated applications, Windows-based
Send commands to packages, like Visual C++, Delphi, etc. have
set required
measurement mode
been used.

Start continuous In an event-driven programming environment, it

LMS data output should be possible to do parallel tasks:
• Data string parsing
Parse incoming • Buffering
data stream for
• Processing of LMS data
output string header

Depending on the processing results, the PC

Header
n program can control outputs on special PC
found ?
cards or other interfaces to communicate with
y other peripheral devices.
Evaluate length
bytes While the data output is streaming, it is possible
Parallel task
to send the “Stop continuous data output”
Buffer <length>
Stop continuous command.
LMS data points
LMS data output
in data structure To determine the start of an LMS out data
Process/filter/ End string, it is necessary to identify a specific
display/evaluate header in the incoming data stream. The output
LMS data data string header is different for each
measurement mode:

LMS mode LMS Number of transferred

Angular Angular output data string header measurement data values
range resolution
0°..100° 1° 02 81 CE 00 B0 65 00 ... 101
0°..100° 0.5° 02 81 96 01 B0 C9 00 ... 201
0°..100° 0.25° 02 81 26 03 B0 91 01 ... 401
0°..180° 1° 02 81 6E 01 B0 B5 00 ... 181
0°..180° 0.5° 02 81 D6 02 B0 69 01 ... 361

Note: Although there is an STX character at the start of the output data string, there is no ETX
character at the end. The actual data string needs to be identified by
• Parsing for the next output data string header
or
• Buffering a fixed number of data values calculated from the length information in the
output string data header

As a support tool, SICK supplies the MST software package, which is a Visual C++ v6.00-based
software driver library. A compact software program “MSTDemo” demonstrates the capabilities of
the LMS in combination with MST-driver-based programming.
For details and order information, please contact your local SICK representative.

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LMS communication setup

9. Stopping the continuous data output

Before any further settings telegrams can be sent to the LMS, the continuous data output
needs to be stopped.

LMS continuous Telegram code in hex Reply telegram in hex

data output PC à LMS LMS à PC
Stop 02 00 02 00 20 25 35 08 06 02 81 03 00 A0 00 10 36 1A

D. Appendices:

1. LMS data output format syntax

In section C.5. continuous data output was started. The following table lists some details
about the format of the resulting data stream from the LMS.

STX ADR LenL LenH CMD Data DataL Data 0° Data 0° Data 1° Data 1° ....... Status CRC CRC
Low High LenL enH Low High Low High (more Low High
byte byte byte byte byte byte data) byte byte

Fig.: Output data string in byte units

Designation Data size Remarks

(number of
bits)
STX 8 Start byte (STX = 02 hex)
ADR 8 Address of the subscriber (in this case the PC)
addressed.
Typically, the value is (81 hex).
Len 16 Length of the total LMS output data string.
Number of following output data string bytes
excluding the checksum (CRC = 2 bytes)
CMD 8 Command byte, in this case (B0 hex), which is the
command for continuous data output.
DataLen 16 Number of measurement data bytes (depending
on measurement mode, refer to section C.8.)
Data ... n x 16 Measurement data values (2 bytes each)
according to the measurement mode settings.
Please refer to the note below )*
Status 8 Status byte
Indication of system error, pollution etc. Refer to
telegram listing for exact information.
CRC 16 CRC Checksum

Table : Designation and description of output data string elements

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LMS communication setup

)* Note: Format of measurement data output values:
Starting with 0°, the sequence of measurement values is incremented according to the
measurement mode:

LMS mode Angular assignation of Number of transferred

Angular Angular LMS measurement value measurement data values
range resolution sequence
0°..100° 1° 0° 1° 2° 3° 4° ... 99° 100° 101
0°..100° 0.5° 0° 0.5° 1° 1.5° 2° 2.5° ... 99.5° 100° 201
0°..100° 0.25° 0° 0.25° 0.5° 0.75° 1° 1.25° ... 401
.... 99.5° 99.75° 100°
0°..180° 1° 0° 1° 2° 3° 4° ... 179° 180° 181
0°..180° 0.5° 0° 0.5° 1° 1.5° 2° 2.5° ... 179.5° 180° 361

To get the correct measurement value, it is necessary to strip the upper 3 bits of each
measurement data value:

LMS measurement data value: Bits [0..12] max. value 8191

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

The upper three bits have a different function which is not required for basic LMS data
capture.

2. LMS in High-Speed Mode

Warning: Only use the following commands if you have a high-speed serial interface
card (MOXA, 500 kBaud) as supplied by SICK. Once the LMS baudrate is
changed to 500 kBaud, it is not possible to communicate with the LMS
without the MOXA high-speed serial interface card!

To return to the default baud setting of 9600 baud, it is necessary to restart

the LMS (power off/on).

To use the high-speed LMS communication mode, it is necessary to use one of the following
special serial communication boards as supplied by SICK:

Item/Specification Description SICK order number

MOXA card for 500 kBaud 2 x RS422, opto-decoupled, 6011807
(ISA bus (old PC standard)) high-speed (500 kBaud)
Quatech card for 500 kBaud ???? ????
(PCI bus (new PC standard))
PCMCIA card for 500 kBaud Order at:
SIO-card RS485-SICK CSM GmbH
Raiffeisenstrasse 34, 70794 Filderstadt
Germany, Tel.: ++49 71177964-0

Connection to the LMS data interface cable:

Both PC cards have 9 pin connectors to connect a data interface cable.
However different pinnings apply for the MOXA and the Quatech cards!

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LMS communication setup

a. MOXA card
The MOXA card provides 2 serial RS422 interfaces for 500 kBaud. The card can be installed
in PCs which have a free ISA-bus adaptor.

9 pol SUB D Cable Sick connector

female # 2018963
male
1 TxD- 1 RxD-
2 TxD+ 2 RxD+
LMS 200
MOXA 3 RXD+ 3 TXD+ LMS 291
Interface 4 RXD- 4 TXD-
Card 5 GND 5 GND

Fig.: Pinning of the data interface MOXA card à LMS

Note: !! PIN 7 and PIN 8 need to bee linked together in SICK Connector!!
! RS 422 can only be used if the pinning fits to the PC side!

b. Quatech card
The Quatech card provides two serial RS422 interfaces for 500 kBaud. The card can be
installed in PCs which have a free PCI-bus adaptor.

9 pol SUB D Cable 9 pol SUB D

male male

7 TxD- 1 RxD-
2 TxD+ 2 RxD+
LMS 200
Quatech 4 RXD+ 3 TXD+ LMS 291
Interface 8 RXD- 4 TXD-
Card 3 GND 5 GND

Fig.: Pinning of the data interface Quatech card à LMS200/LMS291

Note: !! PIN 7 and PIN 8 need to bee linked together in SICK Connector!!
! RS 422 can only be used if the pinning fits to the PC side!

9 pol SUB D Cable SICK Connector

male # 2018301
female
8 RxD- 2 RxD+
4 RxD+ 1 RxD-
LMS 211
Quatech 2 TXD+ LMS 22X
9 TXD-
Interface 7 TXD- 10 TXD+
Card 3 GND Shield
16 +24V
Cable 8 GND
2 wires open

Fig.: Pinning of the data interface Quatech card à LMS211/LMS220/LMS221

Note: !! PIN 3 and PIN 11 need to bee linked together in SICK Connector!!
! RS 422 can only be used if the pinning fits to the PC side!

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LMS communication setup

To enter the high-speed mode, use the following command to set 500 kBaud.

LMS baudrate Telegram code in hex Reply telegram in hex

Setting PC à LMS LMS à PC
500 kBaud 02 00 02 00 20 48 58 08 06 02 81 03 00 A0 00 10 36 1A

Note: After setting the LMS baudrate of 500 kBaud, change your PC program to access
to the LMS via the MOXA high-speed serial interface card. It is required to use the
MOXA card to change the baudrate back to a lower value. Another possible way to
reset the LMS back to 9600 baud is power off/on.

The MOXA, Quatech and PCMCIA cards operate with a NON-STANDARD

baudrate. When using own software (i.e. setcom() routines in C++) to set the
baudrate of these cards, it is not possible to use the standard setting values. To
set the target baudrate of 9600,19200, 38400 or 500k, use the respective baudrate
values as indicated in the table below.

Target baudrate à 9600 19200 38400 500k

MOXA and Quatech 1075 2212 4300 56000
Use baudrate card
value PCMCIA 2150 4301 8602 115000
SIO-RS485-SICK

Note: When using SICK software for LMS (LMSIBS or MST driver) the above
values are already implemented.

Benefit of the 500 kBaud communications mode:

The LMS collects measurement data of the defined scan range 75 times per second. In the
180°/0.5° resolution mode, there are 361 measurement values (2 bytes per value plus
framing) per scan. (refer to D.2. LMS output format for details)
Due to the large quantity of data generated by the LMS, it is ONLY possible to transfer all
acquired data in the 500 kBaud communications mode. In lower speed communications
modes, only a subset of the actually acquired data is transferred via the serial interface.

This means, to use the full capabilities of the LMS, it is necessary to use the MOXA high-
speed serial interface card for PC communication.

3. Status Byte Information

During continuous data output, the LMS sends a status byte at the end of each output data
string (3rd last byte, refer to section D.1.).
With suitable programming, the status byte can be evaluated to monitor the LMS status
during the data capture.

Bit 0 Bit 1 Bit 2

0 0 0 No error (this is the OK state)
1 0 0 Info
0 1 0 Warning
1 1 0 Error
0 0 1 Fatal error

Bit 6 Implausible measured value

Bit 7 Pollution

Bits 3 .. 5 are not important for LMS data capture purposes.

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LMS communication setup

4. Further information and documentation

For more detailed information on LMS, the following documents are available from SICK.

• Technical Description Laser Measurement Systems

SICK order no.: 8 008 970
• Telegram listing
(only on request)
• Technical Description Measurement Software Tool MST 200 for PC Version 2.0
SICK order no.: 8 008 464
• MST Demo Manual and Software
(only on request)

In case of questions or orders, please do not hesitate to contact your local SICK
representative.

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