IDEC SE2L-H05LP Specifications

Approved by M. Yamano Checked by Y. Takamuki Written by N. Ohsugi

No. Y1499-1L11C

Communication Protocol Specification

SE2L-H05LP

SE2L Communication Protocol Specification（Y1499-1L11C）

1 / 29

Symbol

Revision Detail

Page

Date

Drafted

Initial - 2015/12/10

N.Ohsugi

Continuous data output commands（AR02, AR03, AR04, AR05）added.

4, 7, 8, 11, 12

2016/3/29

N.Ohsugi

Commands (XR, YR) added. Laser off State added in AR commands. B Protocol commands added.

4, 7, 9 - 29

2017/1/17

N.Ohsugi

Revision history

SE2L Communication Protocol Specification（Y1499-1L11C）

2 / 29

Table of Contents

Revision history ............................................................................................................................................... 2

1. Introduction ............................................................................................................................................. 4

2. Abbreviations and Descriptions ............................................................................................................. 4

3. Communication Format .......................................................................................................................... 5

4. Data Encoding and Decoding ................................................................................................................. 6

5. CRC Calculation ...................................................................................................................................... 6

6. Commands ............................................................................................................................................... 7

6.1 Version Details (VR Command) ..................................................................................................... 8

6.2 Sensing Data (AR Commands) ....................................................................................................... 8

6.2.1 AR00 Command ....................................................................................................................... 10

6.2.2 AR01 Command ....................................................................................................................... 10

6.2.3 AR02 Command ....................................................................................................................... 11

6.2.4 AR03 Command ....................................................................................................................... 11

6.2.5 AR04 Command ....................................................................................................................... 11

6.2.6 AR05 Command ....................................................................................................................... 12

6.3 Status Data (XR Commands) ....................................................................................................... 13

6.4 Area Data (YR Commands) ......................................................................................................... 14

7. Reply Status ........................................................................................................................................... 15

8. B Protocol Mode Communication ........................................................................................................ 16

8.1 B Protocol Format ......................................................................................................................... 16

8.1.1 Request Message ...................................................................................................................... 16

8.1.2 Response Message .................................................................................................................... 17

8.1.3 Scan Response Message ........................................................................................................... 18

8.2 B Protocol Encoding and Decoding ............................................................................................. 18

8.3 Check Code .................................................................................................................................... 19

8.4 Timestamp...................................................................................................................................... 19

8.5 Data Splitting ................................................................................................................................. 20

8.6 Common B Protocol Status Codes ............................................................................................... 20

8.7 B Protocol Commands .................................................................................................................. 21

8.7.1 BM Command .......................................................................................................................... 21

8.7.2 Measurement Data (GD and GE Command) ........................................................................ 21

8.7.3 Measurement Data (MD and ME Command) ....................................................................... 23

8.7.4 Continuous Transmission Terminate (QT, RS and RT Command) ..................................... 26

8.7.5 Sensor Information (VV, PP and II Commands) ................................................................... 27

SE2L Communication Protocol Specification（Y1499-1L11C）

3 / 29

1. Introduction

This document describes the communication protocol specification for the safety laser scanner,

SE2L-H05LP (henceforth SE2L).

Communication protocol is a predefined format of ASCII strings used for data transmission between host computer and SE2L referred as, “Command” and “Reply”. Commands are sent from the host computer to SE2L which will then reply with the data corresponding to the type of command. Protocol should be strictly followed in order to obtain the appropriate data. Set of such commands and their responses are explained in this document.

This specification is compatible with firmware version 2.0.0o (and later) of SE2L.

Note:

 This specification is intended for the developers who have sufficient knowledge on the

product and software programming.

 Read this document carefully before programming the communication software.

 Read user’s manual of SE2L before programming the communication software.

Danger!

 Sending commands other than those specified in this document can permanently damage

the SE2L.

 Sending commands other than those specified in this document can lead to unintended

performance of SE2L causing critical injury or death.

 Sending commands in sequence other than those specified in this document can lead to

unintended performance of SE2L causing critical injury or death.

 Data integrity (size, CRC, status etc.) shall be sufficiently checked before using the data

for the intended purpose.

 Data obtained through communication should not be used for controlling the safety

device.

 Verification shall be done to ensure that the data output does not hamper the safety

operation of either SE2L or the controlled device.

2. Abbreviations and Descriptions

CRC: Cyclic Redundancy Check STX: Start of Text ETX: End of Text OSSD: Output Signal Switching Device

SE2L Communication Protocol Specification（Y1499-1L11C）

4 / 29

3. Communication Format

STX

1 char

Command Size

4 char

Header

2 char

Sub Header

2 char

CRC

4 char

ETX

1 char

STX

1 char

Reply Size

4 char

Header

2 char

Sub Header

2 char

Data*

N char

Status 2 char

CRC

4 char

ETX

1 char

General communication format and terms used in it are explained below.

Command Host » SE2L

Reply Host « SE2L

* Some of the replies may not contain this field.

Command:

It is the data transmitted from the host computer to SE2L. It is enclosed between STX and ETX and contains Command Size, Header, Sub-Header and CRC.

Command Size:

It is the total length of ASCII characters in a command. Command size is encoded to hexadecimal strings (refer to section 4).

Header:

It is a unique code to differentiate the type of command.

Sub-Header:

It is an additional parameter to differentiate the same command having multiple replies.

CRC:

It is a 16-Bit code for checking the data integrity. Command size, header, sub-header and data are included in CRC calculation (refer to section 5). CRC is encoded to hexadecimal strings (refer to section 4)

Reply:

It is the data transmitted from SE2L to host computer upon receiving a command. It is enclosed between STX and ETX and contains Reply size, Header, Sub-Header, Data, Status and CRC. Reply is unique for each command.

Reply Size:

It is the total length of ASCII characters in a reply. Reply size is encoded to hexadecimal strings (refer to section 4).

Data:

Data is SE2L’s internal state and/or measurement values. It is encoded in ASCII strings and

transmitted from SE2L. Some of the replies may not contain the data.

Status:

It is a code to inform the success or failure of the command execution. Status other than “00” is

error code. Refer to section 7 for details.

SE2L Communication Protocol Specification（Y1499-1L11C）

5 / 29

6857d = 0001 1010 1100 1001

To convert the data into ASCII, if data is less than 10d add 30h, for data from 10d to 15d add 37h

1d 10d 12d 9d

31h 41h 43h 39h

1AC9

Separate the data into 4 bits

Decimal equivalent

ASCII equivalent

Figure 4.1: Data Encoding and Decoding

Data Encoding:

Data Decoding:

6857d

1AC9 = 31h 41h 43h 39h

1d 10d 12d 9d

0001 1010 1100 1001

0001101011001001

To convert the data into decimal, subtract 30h for the data from 30h to 39h, and 37h for data from 41h to 46h.

Hexadecimal equivalent

Binary equivalent

Merge 16 bits

Decimal equivalent

4. Data Encoding and Decoding

Data encoding is applied in the communication protocol. Host computer should convert all the numerical values into ASCII characters before transmitting them to SE2L. For encoding, the data should be first divided into 4 bits, and then depending on its value, either 30h or 37h is added to convert into ASCII characters (Figure 4.1). Values received from SE2L are also in the same format therefore, program on the host computer should decode it before using. Decoding is exactly the opposite of encoding process where, depending on the value of each received ASCII characters, either 30h or 37h is subtracted and merged to generate the original value.

5. CRC Calculation

CRC is a 16 bit code to check the data integrity at the receiving end. It serves as a mean to detect corruption or loss during transmission that may occur due noise in the communication channel. When SE2L receives data from the host computer, it recalculates the CRC and compares it with the CRC value in the command. SE2L will reply with the requested data only if both CRCs match otherwise, it will reply with an error code in the status. Data integrity check should be also applied on the host computer before using the received data. Discard the data if verification fails data and try again by resending the command.

CRC is calculated using the polynomial X16 + X characters (see section 4) before the transmission. STX and ETX are not included when calculating the CRC value.

SE2L Communication Protocol Specification（Y1499-1L11C）

6 / 29

+ X5 + 1. CRC value is encoded into 4 ASCII

CRC Example:

“000EVR00” : 0x3492

Data

CRC

CRC Standard: Kermit

Polynomial: 0x1021

Shift Direction: Right

Initial Value: 0x0000

Byte Swap: Yes

Reverse CRC Result: Yes

6. Commands

Commands recognized by SE2L are described in this section. SE2L will respond with the corresponding data when it receives these commands. Format should be strictly followed in order to obtain the appropriate data. SE2L will reply with error status (refer to section 7) if length, CRC or header string validation fails.

SE2L performs communication routine once in every sensing cycle (one sensing cycle of SE2L is 29 to 30ms) and sends the reply to any command received during this period. Therefore, if commands are not received completely in once cycle it will take another cycle to send the reply. Further, reply can be delayed depending on the communication speed of the host system. Allow sufficient timeout period by considering all possible delays that can occur in the system before resending the command when reply is not received from SE2L. Avoid continuously sending the commands to SE2L without waiting for the reply. It will affect the performance and becomes a cause of error.

Some of the commands can set SE2L to supply the measurement data continuously. When SE2L is in continuous transmission mode, it will supply the data at every 30ms (approx.). Continuous mode can be terminated by sending the appropriate stop commands. In continuous transmission mode, avoid sending additional commands to acquire the same data. However, commands to request other information such as, sensor version can be sent to SE2L.

Important Note:

When the scan skip function is active, device will reply only during the measurement cycles. For example, if the scan skip function is configured as 2, reply of AR02 and AR04 (refer to sections

6.2.3 and 6.2.4) commands will be provided at every 90msec. However, if the device is in the error state, the reply will be sent at every cycle. In such case, the values of measurement data when the sensor is skipping the measurement will be 0xFFFE. Further, scan skip function is temporarily suspended when the device is in setting mode and the communication cycle is 30msec.

SE2L Communication Protocol Specification（Y1499-1L11C）

7 / 29

STX

1 char

Length

4 char

1 char

CRC

4 char

ETX

1 char

STX

1 char

Length

4 char

1 char

Status 2 char

Sensor model

29 char

1 char

Firmware version

29 char

1 char

Reserved

37 char

1 char

Serial Number

8 char

1 char

CRC

4 char

ETX

1 char

Command

Function

“AR00”

Acquire sensing data with measured distance

“AR01”

Acquire sensing data with measured distance and intensity

“AR02”

Acquire sensing data with measured distance in continuous mode

“AR03”

Stop continuous mode initiated by “AR02”

“AR04”

Acquire sensing data with measured distance and intensity in continuous mode

“AR05”

Stop continuous mode initiated by “AR04”

6.1 Version Details (VR Command)

When SE2L receives this command, it replies with its version details. Version details include serial number, firmware version among other information. Data in the version command are not encoded except the length and CRC.

Before acquiring sensing data using AR commands, send the VR command to confirm the connection with intended SE2L.

Host » SE2L

Host « SE2L

6.2 Sensing Data (AR Commands)

There are 6 variations of this command differentiated by sub-header. Function of commands will vary depending on it (Table 6.2.1). When SE2L receives this command, it replies with its sensing data (Table 6.2.2).

After sending a command to acquire data in continuous transmission mode, avoid sending additional commands to get the same data. However, commands to request other information such as, sensor version, can be sent to SE2L even in continuous mode.

SE2L will supply the data at every 30ms (approx.) in continuous transmission mode. Even if SE2L can not perform the measurement due to internal error or goes to lockout state, it will continue to send the reply but the measurement values are not updated.

Important: Before acquiring sensing data using AR commands, send the VR command to check the serial number for verifying the connection with an intended SE2L.

Table 6.2.1: Function of AR Commands Based on Sub-header Parameter

SE2L Communication Protocol Specification（Y1499-1L11C）

8 / 29

Table 6.2.2: Details of Sensing Data

Item

Data

Remarks

Operating Mode

0: Normal 1: Setting

Area Number

00 ~ 1F

Offset the number by 1 to match with 7-seg display of SE2L

Error State

0: No error 1: Error is detected

Use this information with Error Code to show the error status. Also check the Lockout State.

Error Code

1 ~ BF

Use this information with Error Status to show the error number. Offset the number by 0x40 to match with 7-seg display of SE2L. Refer to SE2L user’s manual for error details.

Lockout State

0: Normal 1: Lockout

Use this information with Error Code to show the error status. Also check the Error State.

OSSD 1 State

0: Off (No detection) 1: On (Detection)

Always 1 in setting mode

OSSD 2 Status

0: Off (No detection) 1: On (Detection)

Always 1 in setting mode

Warning 1 State

0: Off (No detection) 1: On (Detection)

Always 0 when SE2L is operating without warning zone1. Always 1 in setting mode when operating with warning zone1.

Warning 2 State

0: Off (No detection) 1: On (Detection)

Always 0 when SE2L is operating without warning zone2. Always 1 in setting mode when operating with warning zone2.

OSSD 3 State

0: Off (No detection) 1: On (Detection)

Always 0 when SE2L is operating without protection zone2. Always 1 in setting mode when operating with protection zone2.

OSSD 4 State

0: Off (No detection) 1: On (Detection)

Always 0 when SE2L is operating without protection zone2. Always 1 in setting mode when operating with protection zone2.

Muting/override State1

0: Not Active 1: Active

Always 0 when SE2L is operating without muting function.

Muting/override State2

0: Not active 1: Active

Always 0 when SE2L is operating without muting function and/or without protection zone2.

Reset Request1

0: Off 1: On

Always 0 when SE2L is operating without interlock1 function.

Reset Request2

0: Off 1: On

Always 0 when SE2L is operating without interlock2 function and/or without protection zone2.

Encoder Speed

0~FFFF

Always 0 when SE2L is operating without encoder Input function.

Time Stamp

0 ~ FFFFFFFF

Unit is millisecond.

Laser off State

0: Laser is emitted 1: Laser is stopped

Always 0 when operating without Laser off function Always 0 in setting mode

Distance Data

0000 ~ FFFF

1081 Steps data Note:

1. Values more than 40000 are error code (0xFFFF).

2. If object is not detected value will be 65534 (0xFFFE).

3. If object is at a very close range value will be 65533 (0xFFFD).

4. When the device is in laser off state or lockout state the value will be 65532 (0xFFFC)

Intensity Data

0000 ~ FFFF

1081 Steps data Note:

1. If object is not detected the value will be 0.

2. Do not use the value if distance of the corresponding step has error.

3. When the device is in laser off state or lockout state the value will be 65532 (0xFFFC).

SE2L Communication Protocol Specification（Y1499-1L11C）

9 / 29

+ 20 hidden pages