Riegl LMS-Q280i Technical Documentation And User's Instructions

LASER MIRROR SCANNER
LMS-Q280i
TECHNICAL DOCUMENTATION AND US E R’S INSTRUCTIONS

Version 07/2004 CE
Rev. 25-03-2004 (V5.63)
Rev. 01-07-2004 (V5.64)

(c) 2004 RIEGL Austria
All rights reserved.
This manual has been compiled with care. However, should you discover any

error, we would be grateful if you would let us know.
RIEGL Laser Measurement Systems GmbH

A-3580 Horn, Riedenburgstrasse 48, AUSTRIA
Tel.: [phone], Fax.: [phone]
e-mail: [e-mail]

www.riegl.com

I m p o r t a n t N o t e:

The LMS-Q280i makes use of a high power laser source and an extremely high
sensitive optical receiver. As a result of this powerful signal detection
electronics, the LMS-Q280i works with non-cooperative targets (natural
reflecting targets like trees, stones etc.) as well as with cooperative targets
(reflecting targets). The following reflecting target materials can be used:

o Reflecting paint

o Reflecting foil

Due to the high power level of the laser transmitter, high quality glass
retro-reflectors must not be used as a target !!! Using such retro­reflectors can permanently damage the instrument.

C O N T E N S

1 GENERAL ................................................................................................ ... 1

1.1 System Configuration ................................................................ .............. 1

1.1.1 Rangefinder System................................................................ ............ 1

1.1.2 Scanner Mechanism................................................................ ............ 2

1.1.3 True Color Channel (optional)................................ ............................. 3

1.1.4 Interfaces................................................................ ............................. 4

2 DESIGN OF LASER SCANNER LMS-Q280I................................ .............. 5

2.1 Mechanical Design................................................................ ................... 5

2.2 Mechanical Drawings ................................................................ .............. 6

3 SAFETY INSTRUCTIONS................................................................ ........... 9

3.1 General Safety................................................................ .......................... 9

3.2 Electromagnetic Compatibility ............................................................. 11

3.3 Laser Safety ............................................................................................ 14

4 OPERATING INSTRUCTIONS .................................................................. 15

4.1 Preparing the Power Supply ................................................................. 15

4.1.1 Fuses ................................................................................................. 16

4.2 Connectors and Pin Assignments ........................................................ 17

4.2.1 Plug for Power Supply ....................................................................... 18

4.2.2 Plug for Serial Interface (RS232) ....................................................... 19

4.2.3 Plug for Parallel Interface .................................................................. 20

4.2.4 Plug for Ethernet Interface ................................................................. 21

4.3 Cables ..................................................................................................... 22

4.3.1 Power Supply Cable .......................................................................... 22

4.3.2 Parallel Data Cable ............................................................................ 23

4.3.3 Serial Data Cable .............................................................................. 24

4.3.4 LAN-TCP/IP Data Cable .................................................................... 25

4.4 Mounting the LMS-Q280i ....................................................................... 26

4.5 Instrument Cooling ................................................................................ 27

4.6 General System Set Up and Cabling .................................................... 27

4.7 Laser Setup and Test Procedure .......................................................... 29

5 SPECIFICATIONS ..................................................................................... 30

5.1 Technical data ........................................................................................ 30

5.2 Definition of axes ................................................................................... 32

5.3 LMS-Q280i Timing Characteristic ......................................................... 34

5.4 External Synchronization and Internal Reference Timer .................... 35

6 DATA COMMUNICATION AND I NTERFACES ........................................ 36

6.1 Programmin g Mode / M easur ement Mo de fo r Seria l Interf ace ................. 36

6.2 Data Format for Serial Interface ............................................................ 37

6.2.1 Data Format for Serial Interface in Programming Mode .................... 37

6.2.2 Data Format for Serial Interface in Measurement Mode .................... 38

6.3 Parameters and Controlling Commands ............................................. 41

6.3.1 Parameter Data Types in Programming Mode .................................. 41

6.3.2 Several Basic Commands ................................................................. 42

6.3.3 Basic Measurement Par am eter s ....................................................... 46

6.3.4 Adjusting Parameters for Serial Interface .......................................... 48

6.3.5 Definition of Scan Patter n .................................................................. 50

6.3.6 Several Additional Commands .......................................................... 54

6.3.7 Control Commands in Measurement Mode ....................................... 55

6.3.8 Additional Low Level Commands ...................................................... 56

6.4 ECP Data Output .................................................................................... 59

6.4.1 Reading Data via ECP ....................................................................... 59

6.4.2 Configuring the ECP Data Output ...................................................... 70

6.5 LAN interface .......................................................................................... 72

6.5.1 Overview ............................................................................................ 72

6.5.2 Activation ........................................................................................... 72

6.5.3 Configuring the LAN Interface ........................................................... 73

6.6 Errors and Error Handling ..................................................................... 75

6.7 Status and Error Messages ................................................................... 77

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Laser Mirror Scanner LMS-Q280i

1 General

The Laser Mirror Scanner LMS-Q280i is a 2D laser scanner based upon
accurately measuring the distance by means of electro-optical pulsed time-of­flight range measurement and upon f ast scanning the laser beam by m eans of
an opto-mechanical scan mechanism. The high range performance, the fast line
scanning, and the overall system design makes the LMS-Q280i well suited for
airborne laser scanning applications.

1.1 System Configuration

The laser scanner LMS-Q280i consists mainly of two subsystems, an accurate
laser rangefinder electronics and a line scanning mechanism, installed in a
rugged housing.

1.1.1 Rangefinder System

The rangefinder system is based upon the principle of time-of-flight
measurement of short infrared laser pulses.

A laser source emits infrared light pulses, which are collimated by a transmitter
lens system. Via the receiver lens, part of the echo signal reflected by the target
hits a photodiode which generates an electrical receiver signal. The time
interval between transmitted and received pulses is counted by means of a
quartz-stabilized clock frequency. The measured time value is passed to the
internal microcomputer which processes the measured data and prepares it for
data output.

Fig. 1 Measurement principle of the pulsed range finder

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Laser Mirror Scanner LMS-Q280i

S

c

a

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n

e

d

l

a

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r

b

e

a

m

Rotating

polygonal

mirror

T

r

a

n

s

mi

t

t

e

r

R

e

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i

v

e

r

1.1.2 Scanner Mechanism

The scanner mechanism deflects the laser beam for range measurement into a
precisely defined direction. Each scan line is composed of a number of pixels
(single laser measurements).

The angular deflection of the laser beam is realized by a rotating polygon mirror
wheel. The polygon-mirror is composed of flat reflective surfaces arranged
around the wheel perimeter. The wheel rotates continuously at a fixed speed to
provide repetitive unidirectional scans.

Fig. 2 Principle of beam deflection by a rotating mirror

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Laser Mirror Scanner LMS-Q280i

Due to the finite aperture dimensions, only a fractional part of the polygon mirror
surfaces (excluding the edge areas) can be used for scanning (please refer to
chapter 5.3, LMS-Q280i Timing characteristic).

1.1.3 True Color Channel (optional)

Beside the laser transmitter and the laser receiver, the LMS-Q280i has
optionally an integrated true color channel which provides the color of the
target´s surface as an additional information to each laser measurement. Color
data are included in the binary data stream of the LMS-Q280i allowing
straightforward texturing of scanned surface model.

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Laser Mirror Scanner LMS-Q280i

1.1.4 Interfaces

1.1.4.1 Electrical Interfaces

The laser sca nner LMS-Q280i requires a singl e power supply with no minall y 24V DC .

Supply voltage 24V DC

Permitted supply voltage range 18V DC to 32V DC

Current consumption
(scanning operation)

1.1.4.2 Data Interfaces

LAN Interface Ethernet Network interface, using the

RS232 serial interfac e Bi-directional interface for scanner

Parallel interface ECP compatible, Uni-directional interface,

typically 3A at 24V DC

TCP/IP protocol

configuration

provides the scan data

The pin assignment of the interface connectors can be found in chapter 4.2,
Connectors and Pin Assignments.

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Laser Mirror Scanner LMS-Q280i

2 Design of Laser Scanner LMS-Q280i

2.1 Mechanical Design

The housing of the LMS-Q280i laser scanner is designed to meet the
requirements for an installation on board of an airplane or helicopter. The slim
design and the scan direction perpendicular to the longitudinal axis of the laser
scanner allows straightforward integration also under narrow space conditions.

The housing consists of a very stable base plate, which carries 6 pcs. M6
mounting threads and the beam output aperture window.

The top plate provides 6 pcs. M6 mounting threads for the installation of an
inertial measurement unit or other additional equipment. This mounting threads
are firmly connected to the internal frame structure. Additionally, the top plate is
equipped with a heat-sink profile.

For adequate heat dissipation, the rear plate
profile. On this side of the laser scanner, there are the connectors for power
supply and data interface as well as the fuse holders located.

For additional information about heat dissipation, please refer to chapter
Instrument Cooling

The front plate carries a desiccant cartridge and valve for nitrogen purging of
the instrument.

The side plates are made of aluminum pro file s hel ls .

All outer parts are colorless or black anodized.

The figures on the next pages show the mechanical dimensions of the LMS-

is equipped with a heat-sink

4.5,

Q280i laser scanner.

Technical Documentation and
User Instructions

Laser Mirror Scanner LMS-Q280i

2.2 Mec ha nical Drawings

24.5

262

505

75

156

95.5

560

132

200

135

6xM6
mounting
threads
depth 10 mm

scan
window

center of laser beam output

Page 6 of 79

Fig. 3 Bottom view of LMS-Q280i (base plate side)

Technical Documentation and
User Instructions

Laser Mirror Scanner LMS-Q280i

78

186

408

100

6xM6
mounting
threads
depth 10 mm

heat sink
profile

Page 7 of 79

Fig. 4 Top view of LMS-Q280i (top plate side)

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Laser Mirror Scanner LMS-Q280i

www.riegl.com

108.8

213

200

217

-22.5°

+22.5°

scanned laser beam

(up to ±30°)

desiccant
cartridge

fitting for
purging

200

17

91.2

13

213

200

217

Fig. 5 Front view of LMS-Q280i (front plate side)

Fig. 6 Rear view of LMS-Q280i (rear plate side)

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Laser Mirror Scanner LMS-Q280i

exceeds the requirements of the following European

Safety requirements for electrical

Temperature:

See chapter 5 Specifications for temperature limits for storage

Storage and operation at temperatures outside the specified

surement results or

technique to determine the distance to the object. For this
purpose it comprises sensitive optical, electrical and

appropriate handling:

Unnecessary exposure of the internal optical and electronic

should be

The unit is specified for an altitude up to 2000m (operation or

Relative

The unit is specif ied for a relative humidity of 80% at or below

Enclosure:

is water resistant on the outside

dripping water or

The optical glass panes should be treated with the care
customarily due to optical instruments and, only when
absolutely necessary, should they be gently cleaned using a

Never apply mechanical force or shock to the glass panes

should be

protected from being shaken or knocked.

3 Safety Instructions

3.1 General Safety

GENERAL SAFETY EN 61010-1

LMS-Q280i meets or
Standard: EN 61010-1 (April 1993)

equipment for measurement, control, and laboratory use Part 1: General
Requirements

Note the following explanations and important instructions:

and operation.

Sunlight: The LMS-Q280i makes use of the optical time-of-flight

Altitude:

Humidity:

temperature ranges may cause wrong mea
even damage of the instrument.

mechanical components. Thus the LMS-Q280i requires

parts to direct sunlight via the front window
avoided.

storage).

+31°C; linearly decreasing to 50% at +40°C.
The instrument LMS-Q280i

but must not however be subjected to rain or
submerged under water.

suitable lens cleaning fluid (e.g. pure ethylene alcohol).

or to the housing itself!
As with other optical instruments, the LMS-Q280i

Page 10 of 79

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Laser Mirror Scanner LMS-Q280i

Power supply:

Before operating the LMS-Q280i make sure that its case is
The power supply cable is to be connected with a suitable

power supply with a maximum voltage of 32 V DC

be connected to 110 or 230

unacceptable due to the danger

presented by the high voltages, and must therefore be

The negative pole of the external line voltage is directly
connected to the instrument’s housing. This should be

ANY USE OF THE LMS-Q280i IN CONTRADICTION TO THE
THEREFORE, STRICTLY FORBIDDE N!

properly grounded.
DC-

(nominal 24 V DC).

The instrument must never
VAC!

Opening the instrument is
avoided at all costs.

remembered when connecting it to other instruments.

INSTRUCTIONS AS GIVEN IN T HE MANUAL CAN BE DANGEROUS AND IS,

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Laser Mirror Scanner LMS-Q280i

meets or exceeds the requirements of the following

WARNING:

, which is affixed on the front side of the housing

of the instrument, meets the requirements of the commission’s guideline

be used in residential, commercial

3.2 Electromagnetic Compatibility

ELECTROMAGNETIC COMPATIBILITY EN 61326

1

Laser scanner LMS-Q280i
European Standards:

EN 61326-1 (1997) Electrical equipment for measurement, control and

laboratory use; EMC requirements; P a rt 1: General requirements

(IEC 61326-1:1997)

EN 61326/A1 (1998) Electrical equipment for measurement, control and

laboratory use; EMC requirements (IEC 61326:1997/A1:1998)

The LMS-Q280i is a class A equipment intended for industrial
environment. Therefore, it must not
and light industry environment.

The labeli ng of the LMS-Q280i
89/336/EEC:

1)

The tests have been run using default scanner parameter settings. The tests
have been performed using original RIEGL data and power supply cables,
powered with 24 V DC provided by an PbGel-Powerpack.

To maintain emission requirements when connecting to the I/O interface of the
LMS-Q280i use only a high-quality shielded data interface cable. The cable
shield must have low impedance connections to both connector housings.

Any changes or modifications to the standard equipment not expressly
approved by RIEGL as well as any non-observance if the directions for
installation may cause harmful interference and void the authorization to
operate this equipment.

The following table lists the applied standards and the performance criteria (see
also definition below) for the evaluation of the immunity test results:

CISPR 16-1 Edition 2.1: 2002

Specification for radio disturbance and immunity measuring apparatus and
methods; Part 1: Radio disturbance and immunity measuring apparatus

CISPR 16-2 Edition 1.2: 2002

Specification for radio disturbance and immunity measuring apparatus and
methods; Part 2: Methods of measurement of disturbances and immunity

Page 12 of 79

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Laser Mirror Scanner LMS-Q280i

EN 61000-4-2 + A1 + A2 : 2002

Electromagnetic compatibility (EMC); Part 4-2: Testi ng and me asurement
techniques - Electrostatic discharge immunity test (IEC 61000-4-2:1995 +
A1:1998 + A2:2001)

Performance Criter ion B

EN 61000-4-3 + A1 + A2: 2002

Electromagnetic compatibility (EMC); Part 4-3: Testi ng and me asurement
techniques - Radiated, radio frequency, electromagnetic field immunity test
(IEC 61000-4-3:1995 + A1:1998 + A2:2000)

Performance Criter ion A

EN 61000-4-4 + A1 + A2: 2002

Electromagnetic compatibility (EMC); Part 4-4: Testi ng and me asurement
techniques - Electrical fast transient/burst immunity test (IEC 61000-4­4:1995 + A1:2000 + A2:2001)

Performance Criter ion B

EN 61000-4-5 + A1: 2002

Electromagnetic compatibility (EMC); Part 4-5: Testi ng and me asurement
techniques - Surge immunity test (IEC 61000-4-5:1995 + A1:2001)

Performance Criter ion C

EN 61000-4-6 + A1: 2002

Electromagnetic compatibility (EMC); Part 4-6: Testi ng and me asurement
techniques - Immunity to conducted disturbances, induced by radio
frequency fields (IEC 61000-4-6:1996 + A1:2000)

Performance Criter ion A

EN 61000-4-8 + A1: 2002

Electromagnetic Compatibility (EMC); Part 4-8: Testing and Measurement
Techniques - Power Frequency Magnetic Field Immunity Test (IEC 61000­4-8:1993 + A1: 2000)
Performance Criter ion A

Definition of the performance criteria and acceptable degradations:
Performance Criterion A: during testing, normal performance within defined

limits

• additional distance depending range error up to ±10 cm;

• additional statistical range error up to ±25 cm;

• loss of ran ge

• additional angle error up to ±1 °;

Performance Criterion B: during testing, temporary degradation or loss of

function or performance which is self-recovering

• loss or heavy degradation of functionalities during testing with self­recovering after finishing the test;

Page 13 of 79

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Laser Mirror Scanner LMS-Q280i

Performance Criterion C: during testing, temporary degradation or loss of

function or performance which requires operator intervention or system
reset occurs

• loss or heavy degradation of functionalities during testing with self­recovering after finishing the test; a system reset may occur;

• loss or heavy degradation of functionalities which require simple user
intervention, e.g. replacement of a fuse, switching the device Off and On,
restoration of settings;

Page 14 of 79

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Laser Mirror Scanner LMS-Q280i

the instrument may

! Do not operate evidently damaged

d incompetently, the

manufacturers absolve themselves from granting any guarantee or

3.3 Laser Safety

The laser scanner instrument LMS-Q280i is classified as Class 1 laser product
in compliance with the International Eye safety regulation IEC60825-

1:1993+A1:1997+A2:2001 and the European Eye safety regulation EN60825­1:1994+A1:2002+A2:2001 Safety of Laser Products, Equipment Classification,

Requirements and User´s Guide.
Class 1: Lasers which are safe under reasonably foreseeable conditions of

operation, including the use of optical instruments for intrabeam viewing
(IEC60825-1:2001, Sub-clause 8.2).

The labeling of the LMS-Q280i meets the requirements of the above standard
(IEC60825-1:2001, sub-clause 5.1 and 5.2). It is affixed two times near the front
pane on the LMS-Q280i.

CAUTION! The invisible laser radiation inside
exceed the accessible emission limits of laser class 1, thus never

open the instrument’s housing

instruments! If the instrument is handle
insurance whatsoever.

Aligning the infrared laser instrument with the lenses of CCD-cameras or
infrared night vision devices can result in damage to them and is therefore not
permitted.

Note: The laser beam exits the instrument via the front window as
indicated in the mechanical drawings.

IMPORTANT NOTE : This classification is based on the condition that the laser

beam is continuously scanned. The LMS-Q280i emits laser radiation only, when
in scanning operation. In case of any fault of the driving mechanism, the laser is
switched off immediately.

Page 15 of 79

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Laser Mirror Scanner LMS-Q280i

RS232: RxD & TxD

laser safety lock

RS232: GND

RS422: (optional)R & T

GND output

+UB input

GND input

laser mirror scanner

housing = ground = GND input =

= GND RS232 (RS422 optional) =

= GND ECP port = GND output

(connections inside the instrume nt)

LMS-Q280

RS422: (optional)GND

ECP port data lines

ECP port GND

4 Operating Instructions

4.1 Pre pa ring the Power Supply

• All ground terminals of data interfaces, control lines and power supply and
the housing are internally connected (common ground). Details are shown by
the following scheme:

• The connections between the ground terminals and the housing, which are
within the instrument, are not suitable to drain off potential differences.
Therefore, further ground connections have to be provided during installation.

• The DC-power supply has to fulfill the requirements for ‘Limited Circuit’
according to EN 61010-1 and the requirements for ‘SELV’ circuits according
to EN 60950.

• The power supply cable is to be connected to a suitable DC power supply
with a voltage specified in chapter 5 Specifications. The negative pole of the
supply voltage has to be grounded.

• The LMS-Q280i is protected by 3 fuses (located on the rear plate of the
instrument), one for the range finder part electronics, one for the scanning
mechanism and one for the laser transmitter (for fuse types and ratings see
chapter 4.1.1). The current drain capacity of the power supply must be at
least three times the sum of the rated currents of the three fuses, so the
fuses can be activated reliably if necessary (for example, in the case of false
polarity).

• When using a long power supply cable, the drop of voltage should be
considered when adjusting the supply voltage. The negative pole of the
supply voltage should be connected to ground near the instrument.

• The internal resistance of the power supply must be low enough for the
supply voltage not to fall short below the minimum voltage of the instrument.

• The control inputs, analog and digital outputs, and the serial interface of the
laser mirror scanner may be connected only to equipment fulfilling the
requirements for ‘SELV’ circuits according to EN 60950.

•

For e lectromagnetic compatibility, use only original RIEGL power supply
cables and low-noise power supply units, which meet the relevant CE
requirements.

Page 16 of 79

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Laser Mirror Scanner LMS-Q280i

fuse holder for scanning mechanism

fuse holder for laser module

fuse holder for rangefinder electronics

4.1.1 Fuses

The laser scanner LMS-Q280i is equipped with 3 glass tube fuses. The fuse
holders are located at the rear side of the instrument.

2.0 A quick-acting

(according to IEC60127 and EN60127)

1.25 A quick-acting

(according to IEC60127 and EN60127)

1.0 A quick-acting

(according to IEC60127 and EN60127)

Fig. 7 Fuse Holders LMS-Q280i

The fuse holders can be opened and closed by means of a coin used like a
screw driver.

Note: Replace a blown fuse only with specified type and rated fuse!

Page 17 of 79

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Laser Mirror Scanner LMS-Q280i

serial interface

parallel ECP interface

power & control lines

test plug
LAN interface

4.2 Connectors and Pin Assignments

The connectors for power supply and data interface are located at the rear side
of the LMS-Q280i.

(for service

Fig. 8 Connectors for power supply and data interfaces

purposes only)

Page 18 of 79

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Laser Mirror Scanner LMS-Q280i

4.2.1 Plug for Power Supply

Type of connector : Souriau 851 02E 12-10 P50, male

Pin Assignment Color Note

A Laser safety lock brown
B *) not used for LMS-Q280i
C GNDin yellow

green
D *) not used for LMS-Q280i
E Trigger yellow Input for external SYNC

F Marker green TTL output factory

G +UB 18-32 VDC black 2 Power Supply

H GNDout white

J GNDin black 3 Power Supply Ground

K +UB 18-32 VDC black 1

*) Any use of these pins for whatever connections can damage the data output
and is, therefore, strictly prohibited!

Power Supply Ground

signal

internal usage

Power Supply

Page 19 of 79

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Laser Mirror Scanner LMS-Q280i

4.2.2 Plug for Serial Interface (RS232)

Type of connector : Sub-D, 9-pin, male

Pin Assignment Color Note

1 must not be connected *)
2 RxD RS232 data input
3 TxD RS232 data output
4 must not be connected *)
5 GND Signal GND
6 must not be connected *)
7 must not be connected *)
8 must not be connected *)
9 must not be connected *)

*) Any use of these pins for whatever connections can damage the data output
and is, therefore, strictly prohibited!

The serial data interface is used for configuration of the scanner.

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Laser Mirror Scanner LMS-Q280i

1

2

RD

Data 1 (LSB)

Data 1

7

RD

Data 6

Data 6

12

17

22 Signal GND

4.2.3 Plug for Parallel Interface

Type of plug: Sub-D, 25-pin, male

Pin Source Name Centronics Name

3 RD Dat a 2 Data 2
4 RD Dat a 3 Data 3
5 RD Dat a 4 Data 4
6 RD Dat a 5 Data 5

8 RD Dat a 7 Data 7

9 RD Data 8 (MSB) Data 8
10 RD PeriphClk nAck
11

13
14 PC HostAck nAutoFd
15
16 PC Direction nInit

18 Signal GND
19 Signal GND
20 Signal GND
21 Signal GND

23 Signal GND
24 Signal GND
25 Signal GND

PC...Personal Computer
RD...Riegl Device
Levels are TTL-levels

For detailed information about the parallel data interface, please refer to chapter

6.4, ECP Data output.

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Laser Mirror Scanner LMS-Q280i

4.2.4 Plug for Ethernet Interface

Manufacturer: Lumberg Inc.
Type: Micro (M12) Female/S3426 Receptable
Number of Pins: 8

For detailed information about the Ethernet data interface, please refer to
chapter 6.5 LAN interface .

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Laser Mirror Scanner LMS-Q280i

Attention!

Use this power supply

cable for scanner

type LMS-Q280i

only

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10-pole plug /female,
series 851

>200mm

shielded cable

20 cm

banana plugs

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2

4.3 Cables

The laser scanner LMS-Q280i is shipped with three cables.

4.3.1 Power Supply Cable

The length of the cable is approx. 6m.

Fig. 9 Power supply cable

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Laser Mirror Scanner LMS-Q280i

25-pole Sub-D

25-pole Sub-D

4.3.2 Parallel Data Cable

The parallel data cable uses a standard PC-Printer cable pinning, but needs
improved noise immunity to ensure highest possible data transfer rates. The
cable has to meet the requirements of IEEE Std. 1284-1994. The end of the
parallel cable is equipped with 25-pole Sub-D connectors enabling to connect
the LMS-Q280i directly to the LPT printer port of a personal computer. The
length of the parallel cable is approx. 6 m .

connector, female

Fig. 10 Parallel data cable

connector, male

Technical Documentation and
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Laser Mirror Scanner LMS-Q280i

4.3.3 Serial Data Cable

9-pole Sub-D

9-pole Sub-D

Cable configuration:

Page 24 of 79

The cable length is approx. 3m.

connector, female

Fig. 11 Serial data cable

connector, female

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typically to Ethernet Hub

typically to PC/Laptop

4.3.4 LAN-TCP/IP Data Cable

Using the included Ethernet Interface cables the LMS-Q280i can be connected
to an Ethernet hub or to a PC/Laptop Ethernet connector.

TCP/IP cable
M12-M12, length 3 m

Fig. 12 Ethernet interface cable

cable for direct connection

between LMS-Zxx and PC

Use this cross over

Attention!

M12-RJ45, cross over, length 0.3 m

TCP/IP cable

TCP/IP cable

M12-RJ45, length 0.3 m

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4.4 Mounting the LMS-Q280i

The base plate of the LMS-Q280i provides 6 pcs. steel inserts with M6 threads,
depth 10mm. This threads are intended to be used for mounting the laser
scanner to a shock proof support plate. For installation of an inertial
measurement unit, the LMS-Q280i provides additionally 6 pcs. steel inserts with
M6 threads in the heat sink profile of the top plate, which are firmly connected to
the internal frame structure. The position of these mounting threads can be
found in the drawing below.

Fig. 13 Position of mounting threads

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4.5 Inst rument Cooling

To enable appropriate heat dissipation by means of natural air convection, the
heat sink profiles must not be covered by objects which are located very closed
to the laser scanner. Operation at higher ambient temperature and/or reduced
air convection (low atmospheric pressure) could require additional forced
cooling (external fan). The housing surface temperature should not exceed
+40°C.

4.6 Gener a l System Set Up and Cabling

• Provide a suitable power supply for the laser scanner (please refer to
chapter 4.1, Preparing the Power Supply).

• Mount the laser scanner LMS-Q280i by means of the mounting threads.

• Connect the LAN-TCP/IP interface or alternatively the parallel and the

serial interface of the instrument to a personal computer or equivalent
data acquisition unit using the LAN cable or the parallel and serial
connection cables.

• Connect the instrument to the power supply using the power supply

cable.

After switching-on the power supply the scanner starts with

• the “Laser setup and test procedure” (see chapter 4.7 for details),
and then

starts scanning automatically .

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Fig. 14 Cabling of laser scanner LMS-Q280i

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4.7 Laser Setup and Test Procedure

At power up a laser setup and test procedure, typically lasting 20 seconds
(the effective time depends on instrument’s and ambient temperature) is
executed. A beep sequence indicates that the setup procedure is in progress.

If the laser setup and test procedure is passed, the laser is ready for
measurement, otherwise an error message is sent.

Technical Documentation and
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5 Specifications

1)

1500 m

Measurement accuracy

2)

(1σ standard deviation)

First target, last target (up to 4 echoes)

or alternating

Laser pulse repetition rate
PRR

24.000 Hz

:

4)

5.1 Technical data

Technical Data of the Scanning Mechanism

Scanning mechanism: rotating polygon mirror
Number of mirror facets: 4
Scan angle range: 45° (60° at 90% meas. range)
Angular movement: linear

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Scan speed : 5 lines/s up to max.80 lines/s
Minimum angle step width : 0.02°
Angle readout resolution: 0.0025°

1) Scanning rates selectable via LAN-TCP/IP or serial interface, max. 30 scans/sec. for 60°
scanning range

Technical Data of the Laser Range Measurement

Measurement principle: Single-shot time-of-flight measurement
Measurement range

for natural targets, ρ ≥ 20%
for natural targets, ρ ≥ 80%

1)

850 m

Maximum range : 2000 m
Minimum range: 30 m

typ.± 20 mm

Measurement resolution:

5 mm

Target detection modes :

3)

Laser wavelength:
Laser beam divergence

Eye safety class according
to IEC60825-1:2001 5)

1) The following conditions are assumed:

• target is larger than the foot print of laser beam

• normal incident angle of laser beam

• visibility 10 km

• average ambient brightness

2) Standard deviation, plus distance depen di ng err or ≤ ± 20ppm

3) Average measurement rate is 1/2 of PRR rate @ scan angle range 45°

4) 0.5 mrad corresponds to 5 cm beam width per 100m distance

5) The classification is based upon the assumption that the laser beam is continuously
scanned.

near infrared

0.5 mrad :

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Laser Mirror Scanner LMS-Q280i

560 x 200 x 208,5

(L x W x H)

Temperature range:
Storage:

-10°C up to +50°C

Ethernet, twisted pair LAN,10 /

- Laser safety lock line

- TTL output (optionall y)

Provides the color of target surface as an additional information to each
laser measurement.

co-aligned with transmitter and

receiver channel

blue: 380-470 nm

red: 590–710 nm

Physical and Electrical Data

Main dimensions :
Weight : 20 kg

Protection class: IP54

Page 31 of 79

Operation:

Power consumption: approx. 70 W
Voltage supply range: 18 – 32 V DC

Interfaces

Mechanical interface Steel thread inserts

100 MBit, industrial connector
Serial Interface for configuration,

Data interface

Power supply 10 pin MIL connector

Additional control lines

industrial Sub connector
Parallel ECP interface for data

output , industrial Sub-D
connector

- TTL input for synchronization

0°C up to +40°C

Orientation
Resolution 16 bit each color

Spectral range

Field of view 1.4 mrad

Optional True Color Channel

green: 510-590 nm

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5.2 Definition of axes

The following drawing shows the definition of the coordinate system of the LMS­Q280i.

X-axis

108.8 108.2

Y-axis

Z-axis

Z-axis

Y-axis

156

X-axis

Fig. 15 Definition of axes 1

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point no. X Y Z
1 -108.2 -252 50
2 -108.2 -252 -50
3 -108.2 -30 50
4 -108.2 -30 -50
5 -108.2 78 50
6 -108.2 78 -50

Coordinates of mounting points for IMU

Z

-X

-Y

Y

X

-Z

ϕ(=0)

ϑ

www.riegl.com

108.8

Y-axis

X-axis

Z-axis

origin of scanner’s
local coordinate system

78

186

408

6xM6
mounting
threads
depth 10 mm

1 2

3 4

5

6

Z-axis

Y-axis

X-axis

100

Fig. 16 Definition of axes 2

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1 second

L

in

e

S

c

a

n

A

n

g

le

5.3 LMS-Q280i Timing Characteristic

As mentioned in chapter 1.1.2, only a part of the mirror facets can be used for
data acquisition. At the edges of the facets the laser beam is split into two
beams and no measurement is possible. The utilization of 45° out of 90° results
in a duty factor of 50 percent. That is the reason for gap times between two
consecutive scan lines. Fig. 16 shows the timing situation for the LMS-Q280i.

t=1second / Scanning rate

112.5°

90°

s
e

ls
u

P

r
e

s
a
L

scan1

t

scan

Gap

t

gap

scan2 scan N

t

t

t

67.5°

Fig. 17 Timing diagram for the scan mechanism

t laser = 1 / PRR (Pulse repetition rate)

Magnified view

Line Scan angle x t laser [ms]

ts[ms]

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5.4 External Synchronization and Internal Reference Timer

The LMS-Q280i provides an internal timer with a timing resolution of 10 µs. It is
a 3 byte wide timer and automatically started at power up. With 3 bytes it
overruns every 167.77216 seconds.

The timer value at the start of the scan data line (LineTimeStamp) is
provided for further data processing within the trailer data contained within each
scan line data (see chapter, 6.4.1.4 Structure of trailer). Additionally, a
LaserShotTimeStamp can be added to each measurement, if more detailed
timing information is needed (see chapters 6.4.2 (Fn command) , 6.4.1.3 and

6.4.1.4)

Additionally, the instrument provides an input f or an external SYNC pulse. The
external SYNC pulse synchronizes the internal timer to an external event (e.g.
1pps GPS pulse). The rising edge of the external pulse resets the internal timer
and the number of external SYNC pulses are counted. The counter value is
supplied optionally in the trailer data ( SyncCounter, see chapter 6.4.1.4 )

Specifications of the external SYNC pulse:

Signal level : TTL, positive,

with respect to
GNDout

Pulse duration : min. 15µs

Trigger edge : rising edge

The input is protected against over voltage and negative voltage.

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6 Data Communication and Interfaces

When using t he LMS -Q280i without Ethernet / TCPIP interface, 2 interfaces are
used:

• a serial RS232 (PC COM-Port) interface for configuration and control

• a parallel ECP (PC LPT-Port) interface for fast scan data outp ut

With the Ethernet / TCPIP interface, these 2 interfaces (2 cable connections)
can be replaced by one interf ace (one cable), using 2 ports: a da ta port (port
number 20001) and a configuration port (port number 20002).
All syntax rules and data format / structure descriptions of the followi ng chapters
are identically used for communication via the TCPIP interface ports, where the
rules relevant for the serial interface are used for the configuration port and the
data structures for ECP parallel interface are used for the data port.

With Ethernet / TCPIP interface some specific commands for TCPIP
configuration ( e.g. IP-address) have to be previously set using the serial RS232
interface.

6.1 Programming Mode / Measurement Mode for Serial Interface

The instrument provides a programming mode to set and display measurement
and control parameters. To enter the programming mode (leaving the
measuring mode) send a ^P (Ctrl P, ASCII 10hex) to the instrument, to leave
the programming mode (re-entering the measuring mode) send a Q<Cr> (like
quit). <Cr> means Carriage return (ASCII 0Dhex).
Measurements and scans are carried out in the measurement mode. After
power up the instrument starts with measurement m ode.

The communication parameters are pre-adjusted in factor y to

19200 baud
1 start bit
8 data bits
no parity
1 stop bit

For achieving electromagnetic compatibility, use original RIEGL data
cable for communications only!

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6.2 Data Format for Serial Interface

6.2.1 Data Format for Serial Interface in Programming Mode

The programming mode uses ASCII character strings to set parameters or ask
for current parameter settings. After starting programming mode with command
^P, the instrument replies with the message

*<Cr>[<Lf>]
where <Cr> means a Carriage return (0Dhex) and [<Lf>] means an optional

Line Feed (0Ahex) (<Cr> or <Cr><Lf> sequence can be selected by the user
via parameter CS) .

Basically the programming mode works with a command / reply concept: A
command is sent to the instrument, which answers with a reply message.

The first character(s) of the reply message always is(are)
* - when the last command could be interpreted correctly.

- if a ^P has been sent. ^P starts or restarts the programming mode and

additionally clears the receive buffer (so when e.g. sending a ^P
after an incorrect command string part, the incorrect characters already
sent are cleared)
? when the last command could not be interpreted because

• the parameter value is out o f range an d/or

• an array index specified is out of range

?? when the last command could not be interpreted because:

• an unknown command was sent or

• the parameter cannot be accessed in the current access level

= when the value of a parameter was requested.
\ when the line is continued (the reply message consists of more than 1

lines)
Example:

Command Reply Meaning

T1<Cr> *T1<Cr><Lf> Measurement time T1
.T<Cr> =T1<Cr><Lf> Meas. time = T1
ABcd<Cr> ??ABCD<Cr><Lf> ABCD is not a valid command

This example assumes that the separator <Cr><Lf> is selected.
Lower case letters of a command are converted to upper case letters internally.

Line feeds <Lf>, following the <Cr> in the command string, are ignored. Spaces
are ignored and therefore may occur everywhere in the command string.

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6.2.2 Data Format for Serial Interface in Measurement Mode

Coding mode ASCII or BINARY can be selected by user, see chapter 6.3.4.5,
Coding mode of the serial result data output

Important note: In scanning mode the serial result output must be switched off
by command RO. Set RO8 to output data to ECP port only !
The serial result output is used for scanners for debug and test purposes only.

Data Format in Result Coding Mode ASCII

The ASCII data string has variable length and is delimited by <Cr> or <Cr><Lf>
respectively. The data string is parted into separate blocks. The user can
specify which data blocks are included into the data string.

The first character(s) within the block is(are) named the block identifier. Block
identifiers are always lower case letters, where data (messages and status
information) are always upper case letters The following block identifiers are
used:

r Range
a Signal intensity (Amplitude)
b Line scan angle
q Measurement quality
t SensorTimeStamp (SYNC Timer)
cr True color data, red part
cg True color data, green part
cb True color data, blue part
m Message, status information

The length of the block depends on the data and is not constant. If the character
following the identifier is a "+" , a "-" or a ASCII-digit, the data block represents a
number (e.g. the range in meters). If it is a letter, it represents status
information.

Example: It is assumed that the output of range and amplitude is activated:
r123.4;a138<Cr><Lf>

Error and status information are messages and given in the following format:
(e.g. error: supply voltage too low)

mERROR:LOW_BATT<Cr><Lf>

Note that under environmental conditions providing high elec tromagnetic
irradiance, the amplitude measurement can be disturbed or disorted.

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Data Format in Result Coding Mode BIN ARY

The binary data string uses the most significant bit 7 (MSB) of data for
synchronization purposes. The MSB is set to 1 for the first byte of the data
string, and is set to 0 for the foll owing bytes.
Data is included in the data string, when the corresponding bit in the Data
format descriptor (see chapter 6.3.4.4, Selecting data blocks for the serial
interface data string) is set. Data is transmitted in order high to low byte.

Data bytes are issued in the following order:

Distance 3 bytes (if corresponding bit is set in F parameter)
Amplitude 1 byte (if corresponding bit is set in F parameter)
Line angle 4 byte (if corresponding bit is set in F parameter)
Quality 1 byte (if corresponding bit is set in F parameter)
SensorTimeStamp 4 byte (if corresponding bit is set in F parameter)
True color data 6 byte (if corresponding bit is set in F parameter)

3 bytes Distance, order D1 – D2 – D3:
Distance [mm] = (D1 and 7Fhex) * 128 * 128 +

(D2 and 7Fhex) * 128 +
(D3 and 7Fhex)

1 byte Amplitude A1:
Amplitude [0..255] = (A1 and 7Fhex) * 2

4 bytes Line angle, order L1 – L2 – L3 – L4:
Line angle[degree/10 000] = (L1 and 7Fhex) * 128 * 128 * 128 +

(L2 and 7Fhex) * 128 * 128 +
(L3 and 7Fhex) * 128 +
(L4 and 7Fhex)

1 byte Quality Q1:
Quality [0..100] = (Q1 and 7Fhex)

4 bytes SensorTimeStamp (SYNC Timer), order T1 – T2 – T3 – T4:
Timer[10-5 s] = (T1 and 7Fhex) * 128 * 128 * 128 +

(T2 and 7Fhex) * 128 * 128 +
(T3 and 7Fhex) * 128 +
(T4 and 7Fhex)

6 byte True color data, order R1-R2-G1-G2-B1-B2:
Red Part= (R2 and 7Fhex) + 128 * (R1 and 7Fhex)
Green Part = (G2 and 7Fhex) + 128 * (G1 and 7Fhex)
Blue Part = (B2 and 7Fhex) + 128 * (B1 and 7Fhex)

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Example:
Assume that F5 is set; then a data string
82 – 73 – 2F – 1C
means:
Distance = 2*128*128 + 115*128 + 47 = 47.663 mm
Amplitude = 56

Note: The ASCII communication in programming mode is not effected.
Status and error messages are always gi ven in ASCII mode, regardless of
the setting of RM

A correct data reception procedure therefore should read data and wait for a
byte with the MSB set to 1, then read a number of bytes according to the setting
of the F command to read all data of 1 measurement. This method would
automatically ignore all possible ASCII codes (status and error messages and
programming mode).

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6.3 Parameters and Controlling Commands

6.3.1 Parameter Data Types in Programming Mode

The instrument supports the following data types:

Byte: 8-bit value, signed or unsigned
Integer: 16 bit value, signed or unsigned
Long: 32 bit value, signed or unsigned
String: a sequence of characters
Command: no value specified

These base types can be grouped to
Arrays: of byte, integer, long, string or command

Setting a parameter is done by specifying the parameter name. For arrays the
name is followed by the array range specification given within brackets [ ]. For
Bytes, Integers and Longs an optional “=” may follow. For strings a “=” must
follow. For data types byte, integer, long and string then the value to be set
must follow.

Command Reply Type Meaning

T=3 *T3 Byte Setting measurement ti me
O-1000 *O-1000 Integer Setting range offse t – 1 m
W *W Command Saving parameters

To get (inquire) the value of a parameter, a point “.” is set before the
parameter name.

Command Reply Meaning

.T =T3 Ask for current measurement ti me
.O =O0 Ask for current offset
.ABC ??ABC Don’t know command ABC
.#SN =#SN9991100 Ask for string serial number

If an error is detected (e.g. during execution of a command in programming
mode or previously in measurement mode), all replies in programming mode
get an exclamation mark added. An error is pending until it is acknowledged by
command “ERRACK” (so the exclamation mark is added to all command replies
until the error is acknowledged). See chapter 6.6 for details.

Command Reply Meaning

W *W! Save, an error has occurred
.T =T3! Ask for current measurement time, error pending

Command Reply Meaning
^P *! Start of programming mode, an error is already pending

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Command

Reply

Meaning

^P * Start the programming mode

Q<Cr>

*Q

Quit the programming mode and return to me as ur e men t
mode

Command

Reply

Meaning

RESET<Cr>

Reset does an internal processor reset and a new start.

t the internal laser hardware is not reset
(it still is power supplied), therefore this is not complete
identical to switching off and on.

Command

Reply

Meaning

DEFAULT<Cr>

*DEFAULT

This command sets several parameters to an
initial default value.

6.3.2 Several Basic Commands

6.3.2.1 Starting and Finishing Programming Mode

Example:
Command Reply Remark
^P * Programming mode start ed
T0 *T0 Set measurement time T0
Q *Q Quit programming mode

6.3.2.2 Reset

Please note tha

6.3.2.3 Setting Parameters to Default Values

The following parameters are set to the listed default status:

Default setting Meaning

T0 Measurement time T0
U0 Range unit meter
A2 Trigger mode free running
F13 Serial interface: data string includes range +
amplitude+ angle
MQ50 Minimum measurement quality 50 percent
O0 Range Offset 0
CS1 Serial interface: Line Separator <Cr> + <Lf>
RM0 Serial interface: Result mode ASCII
RO8 Result output at ECP only
AL0 Amplitude window low value 0
AH255 Amplitude window high value 255
TS1 Last target measurement

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Command

Reply

Meaning

.HELP

see example

Getting help to the available commands.

HELPFOR=[str]<Cr>

*HELPFOR[STR]

Restrict the list of commands to

are listed.

.HELPGROUPS

see example

Display all available help groups. Each
one group.

.HELP[n]

Getting help for specific helpgroup n. A
HELPFOR=[str] operates additionally.

XB1 ECP output: 1 measurement per block
XM1 ECP output: Hold 1 block in memory
XOS0 ECP output: Range in units of [1 mm]

The tests for electromagnetic compatibility according to the requirements
of the European Union have been performed using default parameter
settings. In case of any disturbances of the instrument's functionalities
due to electromagnetic influences, use default settings.

6.3.2.4 Getting Help

commands including the string [str]. If
[str] is an empty string [], all commands

available command belongs at least to

restriction of the command list by

Example for Help:

Command Reply

HELPFOR=O *HELPFOR=O
.HELP \ O : User offset, Acc=RW, Integer[-32767,32767], Save=W
=HELP
HELPFOR=C *HELPFOR=C
.HELP \ CB : Communication Baudrate, Acc=RW, Byte[0,9], Save=W
\ CP : Communication Parity, Acc=RW, Byte[0,4], Save=W
\ CS : Communication Separator, Acc=RW, Byte[0,1], Save=W
=HELP
HELPFOR *HELPFOR

Each help line to a parameter has the following structure:

\ParName : Short description , Access , Type and Range , Saving

Each lines start with “\” to indicate that another line follows.
ParName shows the parameter name to be entered; e.g. “O” is used to set the
range offset.
ParName[len] indicates an array type with len elements.

Short description describes the meaning of the parameter.
Access describes how the parameter can be used:

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Command

Reply

Meaning

W<Cr>

*W

Saves parameters permanently. That means that current

needed to save data and to reply.

R = Read, W = Write, RW = Read and Write.
E.g. “HELP” can be used as Read command only (.HELP), “RESET” can be
used as Write command only and “O” can be used as Read and Write
command (writing and reading the offset).

Type and Range describes the parameter type and valid settings..
Byte is a 8 bit value, Integer a 16 bit value, Long a 32 bit value and String a

character string. Command has no additional value to be set.
For Byte, Integer and Long the range of valid settings is indicated in the form
[min,max], where min is the minimum possible setting and max is maximum
possible setting. For strings the value within the brackets describes the
maximum length.

“Save=W” means that the parameter setting can be saved with command “W”,
“Save=#W” means that the parameter setting can be saved with command

“#W” (service level only) and “Save=No” means that nothing is saved.

Example for Help groups:

Command Reply

.helpgroups \ 0: Basic

\ 1: Info
\ 2: Communication
\ 3: Measurement
\ 4: Lase r
\ 5: Scanner Basic
\ 6: Scanner Extended
\ 7: Optic
\ 8: Angular Basic
\ 9: Adjustment
\ 10: Streams
=HELPGROUPS

.help[1] \ TIME : Current time, Acc=RW, String[9], Save=No
\ DATE : Current date, Acc=RW, String[9], Save=No
\ OPTIME[3] : Total operating-/Laser on-/ Motor on time, Acc=R, String[13], Save=No
\ TEMP : Temperature, Acc=R, Byte[-127,127], Save=No
=HELP[1]

6.3.2.5 Saving Parameters Permanently

settings are kept when the instrument is switched off and
on again. Note that some time (typically tenth of seconds,
but under certain circumstances up to 1-2 seconds) is

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Command

Reply

Meaning

.OPTIME[0]<Cr>

=OPTIME[0]hhhh:mm:ss

Total operating time of scanner, that is

ss seconds

.OPTIME[1]<Cr>

=OPTIME[1]hhhh:mm:ss

Total laser operating time (laser on),
format like OPTIME[0]

.OPTIME[2]<Cr>

=OPTIME[2]hhhh:mm:ss

Total scan operating time (scanner in
motion), format like OPTIME[0]

.OPSECS[0]<Cr>

=OPSECS[0]n

Total operating time of scanner in
seconds, 0 ≤ n ≤ 2147483647

.OPSECS[1]<Cr>

=OPSECS[1]n

Total laser operating time in seconds,
0 ≤ n ≤ 2147483647

.OPSECS[2]<Cr>

=OPSECS[2]n

Total scan operating time (scanner in
2147483647

6.3.2.6 Total Instrument Operating Time

the total time the instrument has been
power supplied.
hhhh hours
mm minutes

motion) in seconds, 0 ≤ n ≤

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Command

Reply

Range

Meaning

ROn<Cr>

*ROn

Enabling the output of measurement

sets ECP + serial output

Command

Reply

Range

Meaning

ALn<Cr>

*ALn

Setting the minimum value of signal
amplitude values accepted

AHn<Cr>

*AHn

Setting the maximum value of signal
amplitude values accepted

6.3.3 Basic Measurement Parameters

6.3.3.1 Enabling the Desired Data Outputs for Results

0 ≤ n ≤ 255

results for different outputs: The bits of the
value have the following meaning:
bit 0: Serial interface output
bit 3: ECP data output
Example: RO8 sets ECP output only, RO9

In scanning mode enable the ECP data output only, therefore set to RO8 !

Note that the command effects the output of measurement results only.
Therefore e.g. errors are still reported on the serial output, even when the
corresponding data output bit 0 in RO is cleared. Similarly the serial
programming mode is not effected by the setting for the serial data output in
RO.

6.3.3.2 Selective Measurement of Strong Reflector Targets (Setting an Amplitude Window)

0 ≤ n ≤ 255
0 ≤ n ≤ 255

These feature allows to set an signal amplitude window to measure targets with
a reflectivity in a certain range. E.g. to measure only targets equipped with
reflectors and to m ake it insensitive for diffusely reflecting targets, set AL to a
value of approx. 80 and AH to 255.

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Command

Reply

Range

Meaning

LASERn<Cr>

* LASERn

0 ≤ n ≤ 1

Software laser switch
n=0: laser off (like command ^F in

n=1: laser on (like command ^N in
measurement mode)

Command

Reply

Range

Meaning

TSn<Cr>

*TSn

0: measurement of FIRST TARGET
2: ALTERNATIG first / last targe t

6.3.3.3 Switching the Laser Off and On, Laser Lock

measurement mode)

6.3.3.4 Target Selection

0 ≤ n ≤ 2

1: measurement of LAST TARGET

The LAST TARGET detection is useful for measurement situations where
targets in front (trees, bushes ...) partly block the sight to the desired
measurement target.
For last target detection up to 4 targets with an intermediate distance of at least
5 meters between consecutive targets can be handled.

An ALTERNATING measurement mode enables automatic switching between
first and last target. When scanning, the mode first target / last target is
alternated with ever y laser shot in a scan line. Each line starts with first target
mode.

When using the LMS-Q280i under environmental conditions providing
electrical, electrostatic and/or electromagnetic disturbances, only the
program FIRST TARGET has to be used in the interest of achieving the
highest possible reliability of measurem ent. The programs LAST T ARGET
or ALTERNATING must not be used!

6.3.3.5 Hardware Resolution Mode and Maximum Range

The hardware resolution is fixed 5 mm. Earlier versions of the LMS-Q280i had
user selectable hardware resolution modes (command HWRES) with different
possible maximum range values.
The nominal maximum range is 2000 m; note that the effective maximum
range depends on the target quality (distance to target, reflectivity, visibility, size
of target, angle of incidence of laser beam etc.) and usually is lower.

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Command

Reply

Range

Meaning

CBn<Cr>

*CBn

n = 8: 38400 n = 9:115200

CPn<Cr>

*CPn

n = 4: 8 Data Bits, Parity = Space

Command

Reply

Range

Meaning

CSn<Cr>

*CSn

Setting the Line Separator for data string sent via

n = 1: Carriage Return + Line Feed <Cr> + <Lf>

Command

Reply

Range

Meaning

6.3.4 Adjusting Parameters for Serial Interface

6.3.4.1 Setting the Baud Rate and Parity

0 ≤ n ≤ 9

0 ≤ n ≤ 4

Setting the Baudrate for communication via serial
interface.
n = 0: 150 n = 1: 300
n = 2: 600 n = 3: 1200
n = 4: 2400 n = 5: 4800
n = 6: 9600 n = 7: 19200

Setting Parity for communication via serial interface.
n = 0: 8 Data Bits, no Parity
n = 1: 8 Data Bits, even Parity
n = 2: 8 Data Bits, odd Parity
n = 3: 8 Data Bits, Parity = Mark (= No Parity, 2
Stop Bits)

Note that it is necessary to save parameters permanently by command “W” and
to reset the instrument to activate new values of CB or CP.

When using the LMS-Q280i under environmental conditions providing
electrical, electrostatic and/or electromagnetic disturbances, data commu­nication with high baud rate s may result in communication errors. In this
case set the baud rate to a lower value.

6.3.4.2 Setting the Line Separator

0 ≤ n ≤ 1

6.3.4.3 Setting the Serial Mode

CMn<Cr> *CMn

0 ≤ n ≤ 1

Note that it is necessary to reset the instrument to activate new values of CM.

serial interface.
n = 0: Carriage Return <Cr>

Setting the serial mode.
n = 0: RS232
n = 1: RS422

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Command

Reply

Range

Meaning

Fn<Cr>

*Fn

0 ≤ n ≤

Setting the data blocks forming the result output data

Example: F5 sets output of range and am plitu de va lue.

Command

Reply

Range

Meaning

RMn<Cr>

*RMn

Result coding mode. Coding the measurement

ASCII mode, regardless of the setting of RM

6.3.4.4 Selecting Data Blocks for the Serial Interface Data String

65535

string. The bits of the value have the following meaning:
bit 0: Enable range data output
bit 2: Enable amplitude data output
bit 3: Enable angle data output
bit 5: Enable quality data block
bit 6: Enable SYNCTimer data block
bit 7: Enable True color data block

The setting of the F – Parameter also effects the data structure of the ECP
port data, see chapter 6.4.2 .

6.3.4.5 Coding Mode of the Serial Result Data Output

0 ≤ n ≤ 1

result data of the serial data output ASCII
(standard) or binary

Note: The ASCII communication in
programming mode is not effected. Status
and error messages are always given in

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Command

Range

Meaning

6.3.5 Definition of Scan Pattern

6.3.5.1 Scan Pattern Basics

The scan pattern is mainly defined by the following parameters:

• Start angle

• Angular step width between measurem ents

• Number of measurements forming a scan

RF_START_Ln <Cr>

RF_NUMBER_L n <Cr>

RF_DELTA_L n <Cr>

SC_WRITE <Cr>

0 ≤ n ≤ 3599999

1 ≤ n ≤ XBMAX

1)

see chapter

6.4.2

200 ≤ n ≤ 4000

Activate the scanner settings by

Setting the start angle for the Scan in
units of 0.0001 degree.

1)

Setting the number of measurements
per line.

Note : In scanning mode the setting
of XB for the ECP data output (block
buffer size) is automatically set
equal to RF_NUMBER_L.

Setting the Scan angle increment
between two consecutive laser shots in
units of 0.0001 degree.

Note: Values are truncated
according to the resolution of the
internal angle encoders; e.g. for a
resolution of 2.5 mdeg the value is
truncated to a multiple of 2.5 mdeg
(e.g. a setting of 187 results in an
effective angle increment of 175
according to 7x2.5 mdeg)

internally writing the scanner relevant
parameters to the scanner module (e.g.
scanner speed depending on setting of
RF_DELTA_L).
This command is executed
automatically at startup sequence and
must be sent after changing scanner
parameter RF_DELTA_L.

SC_SCAN <Cr>
SC_SCANCONT <Cr>

SC_NOSCAN <Cr>

Start the scanner motion (movement).

Note: With parameter AUTOSCAN = 1
this is done automatically at startup.

Stop the scanning movement

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6.3.5.2 Scan Pattern Example

A typical command sequence in order to set a scan pattern with 0.1 degree
angular step width and full (45 degree) scan area would be:

Command meaning
^P enter programming mode
SC_NOSCAN< Cr> stop the scan motion
RF_DELTA_L1000<Cr> angle step width 0.1 degree
RF_NUMBER_L451<Cr> so scan range is 45 degree
(number = (45 / 0.1) + 1)
RF_PRENUM_L2 factory setting for internal timing reasons, there

are two laser shots prior to the begin of scan
line

RF_START_L223000<Cr> start of scan line at angle 22.5000 degree (22.3

+ 2 x 0.1 pre-shots)

note: for calculation of the beam ang l e,
an offset of 45 degree (50 gon) is added,
see chapter 6.4.1.1.3, PolarAngleID
SC_WRITE<Cr> set the parameters (and derived scan speed …)
SC_SCAN<Cr> now start the new scan
W<Cr> save permanently, if desired, otherwise omit

this command
Q>Cr> quit programming mod e

With the nominal laser pulse rate of PRR = 24.000 Hz, the resulting scan rate
(lines per second) is

LPS = RF_DELTA_L * PRR * 4 / 3600000 = 26.7 lines (scans) per second

Automatic Adjustment of Scan Rate:

The line scan rate is adjusted automatically in case the pulse repetition rate
changes in order to keep the angular spacing constant.

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Command

Meaning

6.3.5.3 Scan Related Commands

.SC_STATUS <Cr>

.SC_STATUS_LIST <Cr>

.SC_ERROR <Cr>

Reading the status from the scanning module. Reading this value
is necessary to get additional error information for the error
“mERROR:SCAN_STATUS”. For correct operation the value is 0.
The bits of returned value (starting with bit index 0) have the
following meaning:
Bit 2: 1=Scanner supply voltage currently out of range
Bit 3: 1= Scan movement not full speed
Bit 4: 1= Scanner movement off
Bit 6: 1= Encoder missing marker pulse
Bit 11: 1= Scan No Motion Error
Bit 12: 1= Line Scanner PLL locked Error
Bit 13: 1= Scanner Supply Voltage out of range Error
Bit 14: 1= Scanner FPGA Boot Error
Bit 15: 1= Scanner FPGA Download Error

Reading and interpreting bits of SC_STATUS, displaying a lis t o f
message lines for eac h bit set in SC_STATUS, each message line
starting with “\”. SC_STATUS = 0 is displayed as
line “\ MOTION_OK”.
Example:

Command Reply:
.SC_STATUS_LIST \ MOTION_OK
=SC_SATUS_LIST

Reading this value is necessary to get additional error information
for the error “mERROR:SCAN_COMMUNICATION”.
The bits of returned value (starting with bit index 0) have the
following meaning:

.SC_ERROR_LIST <Cr>

Bit 0: 1= No PDR Error
Bit 1: 1= Bad Frame Ctrl Byte Error
Bit 2: 1= Bad Checksum at last R/W Error
Bit 3: 1= Bad Echo at last R/W Error
Bit 4: 1= PDR at wrong position Error
Bit 8: 1= Bad command or answer Error
Bit 9: 1= Unknown command Error
Bit 10: 1= PDR2 timeout Error
Bit 12: 1= Error in Scanner, to be found in SC_STATUS

With Error acknowledge command “ERRA CK” the value is set
to 0.

Interpreting bits of SC_ERROR, displaying a list of message lines
for each bit set in SC_ERROR, each message line starting with “\”

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Command

Meaning

. EALDESC[0]<Cr>

Getting the total angle range of a full circle

. EALDESC[1]<Cr>

Getting the number of encoder lines of a full circle

. EALDESC[2]<Cr>

If 0: angle is scaled in gon; angle resolution of sc an angle = 400 /

360 / EALDESC[1]

.SC_VERSION <Cr>

.EAL <Cr>

Reading the current software version of the scanning module

EALDESC[1]
If 1: angle is scaled in degree; angle resolution of scan angle =

Get the current angle in units of 0.0001 degree

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Command

Meaning

. #V<Cr>

Getting Software Version

. #VI<Cr>

Getting Instrument Ident

. #VN<Cr>

Getting Instrument Name

. #VM<Cr>

Getting Instrument Modification

. #SN<Cr>

Getting Instruments serial number

Command

Meaning

. V<Cr>

Getting supply voltage in units of 0.1 volt. This voltage is measured internally,
therefore voltage loss from the supply cable can not be taken into account.

. TEMP<Cr>

Getting Temperature within instrument in units of degree Celsius. Note that
ambient temperature.

Command

Meaning

. ERR<Cr>

messages.

ERRACK<Cr>

acknowledged.

6.3.6 Several Additional Commands

6.3.6.1 Getting Version, Type and Serial Number Information

6.3.6.2 Getting Supply Voltage and Instrument Temperature

the temperature within in the instrument usually is some degrees higher than

6.3.6.3 Error Handling

Get a list of errors. Each error detected is listed in a line, where each line
starts with “\” and is followed by an error message. The last line then is
“=ERR” as response to the “.ERR” command.
Note that while in measurement mode errors are automatically sent as

Error acknowledge. This command clears all errors listed with .ERR and no
errors are pending any more. Note that FATAL errors can not be

For detailed description of error handling and error lists see chapter 6.6

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Command

Meaning

^P

From measurement mode, start programming mode. In programming mode,
the last carriage return (clears the input buffer).

^N
(0Ehex)

Switch on the laser (laser on only when additionally hardware laser lock
is in status “on” and wheel in rotation, see chapter 6.3.3.3)

^F
(06hex)

Switch off the laser

6.3.7 Control Commands in Measurement Mode

(10hex)

^P restarts the program mode, therefore clears all characters already sent since

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6.3.8 Additional Low Level Commands

The following list of commands is usually not needed for standard usage.
It lists

• Commands needed for debugging and testing

• General range finder commands, not needed for the scanning application

6.3.8.1 Low Level Scanning Commands

ICAN <Cr>

AUTOSCAN n <Cr>

SCAN <Cr>

NOSCAN <Cr>

Super User Password

0 ≤ n ≤ 1

Start the scanning mode in range finder

Stop the scanning mode in range finder

Setting the instrument mode at startup.

For scanning AUTOSCAN must be
set to 1. Value 0 is used only for

factory adjustments.
Needs Super User Password

module. Note that the scanner
(scanning movement) must be started
separately by command SC_SCAN.
With parameter AUTOSCAN = 1,
commands SCAN and SC_SCAN are
executed automatically
Needs Super User Password

module. Note that the scanner
(scanning movement) must be stopped
separately with command
SC_NOSCAN.
For debug purposes only.
Needs Super User Password

SC_RESET <Cr>

.#MID_MAIN <Cr>

.#MID_SUB<Cr>

Resets the scanning unit

Needs Super User Password

Getting the ECP data output

Measurement ID Main.
Needs Super User Password

Getting the ECP data output

Measurement ID Sub.
Needs Super User Password

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Command

Range

Setting

Meaning

don’t

Selection of measurement time.

In scanning mode the measurement time setting is
ignored. Each measurement is a single shot
For scanning: Note that units of measurement for ECP
output are not effected, the ECP output always uses
meters

2

Selection of measurement trigger mode

For scanning mode always select tri g g er mode A2

0

Setting an range offset value in units of [mm]. This offset

For scanning mode always set offset 0

6.3.8.2 (Extended) Range Finder Commands

The LMS-Q280i includes RIEGL Rangefinder electronics m odule, which is set
to a mode to fit to the application in the scanner. The following part lists this
commands.

For correct scanning operation, som e parameters must be set to certain values,
which is done in the factory.

Do not change these parameters, otherwise correct scanning operation
cannot be guaranteed.

Tn<Cr>

Un<Cr>

0 ≤ n ≤ 7

0 ≤ n ≤ 2

care

don’t

care

Setting Meas. Time Laser shots / measurement
T0 1/13000 sec 1
T1 1/6500sec 2
T2 5/13000 5
T3 1/130 sec 100
T4 2/13 sec 2000
T5 5/13 sec 5000
T6 0.77 sec 10000
T7 1.53 sec 20000

measurement (T0) at a certain angle. T he command is
used for debug purposes in mode NOSCAN only.

Selection of range measurement unit
n = 0 : unit meter
n = 1 : unit feet
n = 2 : unit yards
The conversion factors are:
1 meter = 3.28084 feet
1 meter = 1.0936 yards

An<Cr>

On<Cr>

0 ≤ n ≤ 2

-32767 ≤
n ≤
32767

n = 0: Trigger external (TTL input)
n = 1: Trigger via serial interface (^X)
n = 2: Free running, automatic start

is used to adapt the zero plane according to different
mounting positions. Positive values increase the displayed

range value

.

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Command

Range

Setting

Meaning

don’t

Setting the minimum required measurement quality.
The quality of a measurement is relevant for results

er shots resulting in an detectable echo

internally set to 1, if the MQN value is less than 1).

MQn<Cr>

0 ≤ n ≤
100

care

obtained by averag ing of single shot measurem ents only
(measurement times > T0). The quality is the percentage
of emitted las
signal. Measurem ent results with qualit y values less than
MQ indicate “no target”
For single shot measurements the quality can only be 0
(no echo detected) or 100 (echo detected).
According to the average rate of the selected
measurement time, the minimum number of pulses
necessary for a valid measurement result MQN is
calculated internally. The resulting MQN value must be ≥
1 (At least one single shot measurement is needed; it is

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Line 1

DataPoint 1

Line 2

Data Point 2

. .

. .

Line N

DataPoint M

.

6.4 ECP Data Output

The ECP data output is a 8 BIT PARALLEL DATA OUTPUT. It has been
designed to be directly connected to an ECP compatible LPT printer port of
an PC or compatible data acquisition unit (this ports are also addressed
extended parallel ports or enhanced parallel ports). ECP ports offer high data
transfer rates. Although designed for personal computers, interfacing to other
equipment is rather straight forward.
Specifications of the ECP mode can be found in IEEE standard 1284 -1994.

6.4.1 Reading Data via ECP

In order to read data from the ECP port we strongly recommend to install and
use RiPORT on the acquisition system. RiPORT is a driver to be installed on
the following platforms: WINDOWS NT, WINDOWS 2000, or WINDOWS XP.
Please follow the installation instruction provided with the RiPORT driver.

Reading data from the ECP port via RiPORT can be seen like reading data from
a file. Examples, written in C, show how to use functions

 RiPortOpen
 RiPortRead
 RiPortClose

For operating systems Windows 98 and WINDOWS ME the ECP port has to be
accessed directly. Please consult the examples supplied with the driver (C++
source file RiPort.CPP)

The “ECP data file” or, in other words, the binary data stream, starts with a
header record, followed by line records containing the line data
(measurements). Every line record starts with a synchronization sequence,
followed by (a user definable number of ) data point data and ends with a trailer.

File structure Line structure

Header

Sync

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Element name
(size)

Meaning

Value

HeaderSize

is the size of the header in bytes, including the bytes of
first byte (lowest byte of HeaderSize) of the header

specific

DataSetLen

Length of Dataset in Bytes not including opti on al S ync f ield,

Scan

ProtocolID

Each bit set describes a 16 bit field added to a dataset

Bit 1 = 1: 16 Bit CRC field present

1

HeaderID
(unsigned 8 bit)

is the Header identity

10

With RiPortOpen the ECP port is opened to receive data from the instrument.
The first block read is the header block. Note that the header record is read only
once after opening the ECP file.

The following structure definitions use a notation

Name1 : BitSize1 - Name2 : BitSiz e2

Where NameX is the name of element X and BitSizeX the bit size of the
element X.

6.4.1.1 Structure of Header

The header consists of three consecutive blocks

Header Preamble Block
Header Main Block
Header Parameter Block

6.4.1.1.1 Header Preamble Block

HeaderSize:32 – DataSetLen:16 – ProtocolId:8 – HeaderID:8

(unsigned 32 bit)

(unsigned 16 bit)

(unsigned 8 bit)

HeaderSize. Therefore data starts HeaderSize bytes after the

CRC...
(For each bit set in ProtocolID, 2 bytes have to be added to
DataSetLen to jump to the next Data set.)

Bit 0 = 0: No Sync field present
Bit 0 = 1: 16 Bit Sync field present
Bit 1 = 0: No CRC field present

specific

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Element name
(size)

Meaning

Value

MeasOffset

Offset of the first byte of the Meas record from the start of the
record of the data

0

MeasSize

Size of the one Meas record (data point) in bytes. Knowing the

specific

MeasOffset + n * MeasSize

MeasCount

(unsigned 16 bit)

Number of measurement per Data set (line)

Scan
specific

LeadInIDMain
(unsigned 8 bit)

LeadIn Record ID Main; if Main and Sub are zero, this recor d
is not present in the Data record

0

LeadInIDSub

LeadIn Record ID Sub

0

MeasIDMain
(unsigned 8 bit)

Meas Record ID Main

129

TrailerIDMain
(unsigned 8 bit)

Trailer Record ID Ma in , if Main and Sub ar e zero, this record
is not present in the Data record

6

TrailerIDSub

(unsigned 16 bit)

Trailer Record ID Sub

1

ParameterIDMain
(unsigned 8 bit)

Parameter Record ID Main

4

ParameterIDSub

(unsigned 16 bit)

Parameter Record ID Sub

1

6.4.1.1.2 Header Main Block for Header ID 10

MeasOffset:16 - MeasSize:16 - MeasCount:16- LeadInIDMain:8 ­LeadInIDSub:16 - MeasIDMain:8 - MeasIDSub:16 - TrailerIDMain:8 ­TrailerIDSub:16 - ParameterIDMain:8 - ParameterIDSub:16

(unsigned 16 bit)

(unsigned 16 bit)

(unsigned 16 bit)

MeasIDSub

(unsigned 16 bit)

data. Adding the offset effectively 'jumps' over the LeadIn

size allows ignoring unknown fields. The n'th measurement
thus has an offset of

Meas Record ID Sub, interpret the bits similar to description of
Parameter F

specific

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Element name
(size)

Meaning

Value

SerialNumber
(64 bit)

null terminated string, 8 characters, instrument serial
number

specific

RangeUnit
(floating point 32 bit)

Range measurement unit in meters [m]

0.001

AngleUnit
(floating point 32 bit)

Angle unit in gon. Full circle is 400 gon.

0.0001111111

Timer Unit
(floating point 32 bit)

SensorTimeStamp (SYNC Timer, time of measurement)
unit in seconds [s].

0.00001

PolarAngleID

Defining the rule for calculation of the polar angle of the

mod means modulo function

68
(number of

HWRes
(unsigned 8 bit)

Setting of parameter HWRes, defining the hardware
resolution of the range measurement (see chapter 6.3.3.5)

0..2

Target
(unsigned 8 bit)

Setting of parameter TS, defining the target detection mode
(see chapter 6.3.3.4)

0..2

6.4.1.1.3 Header Parameter Block

Parameter ID 4.0
SerialNumber:64 – RangeUnit:32 – AngleUnit:32 – TimerUnit:32 –

PoalrAngleID:8

Parameter IDs greater or equal to 4.1 further add
…. HWRes:8 – Target:8

(unsigned 8 bit)

laser beam, based on the PolarAngle value supplied by the
scanner.
For PolarAngleID >= 64 (codes mirror type 1):
NumberOfFacets = (PolarAngleID - 64

BeamPolarAngle[gon] = 50.0 + PolarAngle mod

(400/AngleUnit/ NumberOfFacets)) * AngleUnit

For AngleUnit = 0.000111111:

BeamPolarAngle[degree]=45.0 +(PolarAngle mod

900000)*0.0001

Header example:
Hex sequence Meaning

31 00 00 00 HeaderSize is 49 bytes
39 00 DataSetLen: 57 bytes per Data Set ( line)
(3 measurements x 16bytes + 9 bytes trailer)
01 ProtocolID = 1 (Sync Field on)
0A HeaderID = 10
00 00 MeasOffset = 0
10 00 MeasSize = 16, each measurement has 16 bytes
03 00 MeasCount = 3, 3 measurements per line
00 LeadInMain = 0
00 00 LeadInSub = 0
81 MeasIDMain = 129
CD 00 MeasIDSub = binary 1101101 (range + amplitude +

facets = 4)

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polar angle + sync timer + true color data output enabled)
06 TrailerIDMain = 6
01 00 TrailerIDSub = 1
04 ParameterIDMain = 4
01 00 ParameterIDSub = 1
39 39 39 33 33 37 31 00 Null terminated serial number string = “9993371”
6F 12 83 3A RangeUnit = 0.001 m
51 04 E9 38 AngleUnit = 0.000111111 gon (corresponds to 0.0001 degree)
AC C5 27 37 Timer unit = 0.00001 seconds
44 PolarAngleID = 68, that is mirror type 1 with 4 mirror facets
02 HWRes = 2, hardware resolution
01 Target selection = 1, last target mode

6.4.1.2 Structure of Data in a Line

Consecutive data lines have the following structure:
Synchronization sequence (identical to DataSetLen in header)

Data point 1
Data point 2
.
Data point M
Trailer

Synchronization sequence (identical to DataSetLen in header)
Data point 1
.
.

The Synchronization sequence is formed by 2 bytes representing the number
of bytes in one line. This value is identical to the value of DataSetLen in the
header.

6.4.1.3 Structure of a Data Point

Each data point with Measurement ID 129.x has the following structure:
Range:24 (if bit 0 of MeasIDSub is 1) -

Intensity: 8 (if bit 2 of MeasIDSub is 1) ­AngleOfMirrorWheel:24 (if bit 3 of MeasIDSub is 1) –
LaserShotTimeStamp:24 (if bit 7 of MeasIDSub is 1) –
TrueColorRed:16 - TrueColorGreen:16 - TrueColorBl ue: 16 (if bit 8 of
MeasIDSub is 1)

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Element name (size)
Byte Order

Meaning

Range
R1-R2-R3

Distance to target [Parameter.RangeUnit] =

Amplitude

A1

Signal amplitude of received target echo signal[0..255] =

AngleOfMirrorWheel

Angle of mirror wheel [Parameter.AngleUnit] =

Parameter. PolarAngleID

LaserShotTimeStamp

Time stamp [Parameter.TimerUnit] =

synchronization to external events (e.g. GPS).

TrueColorRed

R1-R2

True color data red part [0..65535] =

TrueColorGreen

G1-G2

True color data green part [0..65535] =

TrueColorBlue

B1-B2

True color data blue part [0..65535] =

(unsigned 24 bit)

(unsigned 8 bit)

(unsigned 24 bit)
L1-L2-L3

(unsigned 24 bit)
T1-T2-T3

(unsigned int 16 bit)

(unsigned int 16 bit)

(unsigned int 16 bit)

R1 +256*R2 + 65536*R3

A1

L1 +256*L2 + 65536*L3

To calculate the laser beam angle, see

T1 +256*T2 + 65536*T3
The timer starts with system power up and is a 24bit timer,
although 32bit are reserved. With Parameter.TimerUnit =
10 microseconds, it therefore overflows after 167.77215
seconds. The timer can be reset by the rising edge of an
external pulse supplied via input TRIG (see chapter 5.4) for

R1 + 256*R2

G1 + 256*G2

B1 + 256*B2

Example:
It is assumed that the F parameter is set to 205 (enable output of range +
amplitude + polar angle + sync timer + true color data):

Header:
39 00

87 D8 00 0E 2E DE 06 0D B1 54 21 00 23 00 0C 00
34 E1 00 0B 0F DF 06 14 B1 54 19 00 23 00 0E 00
BD DA 00 0F D7 DF 06 1C B1 54 1B 00 1F 00 08 00
00 45 00 03 00 00 0C B1 54

Sync Sequence: 2A 00
Range 1: 00D887hex => 34776 x RangeUnit = 34.776 m

Amplitude 1: 0Ehex => 14
MirrorAngle1: 06DE2Ehex = 450094
=> BeamAngle = 50.0 +
(450094 mod 900000)*0.000111111 = 100.0103 gon
= 90.0094 degree

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TimeStamp1: 54B10Dhex = 5550349 x TimerUnit = 55.50349 sec
TrueColorRed1: 0021hex = 33
TrueColorGreen1: 0023hex = 35
TrueColorBlue1: 000Chex = 12

Range 2: 00E134hex => 57652 x RangeUnit = 57.652 m
Amplitude 2: 0Bhex = 11
MirrorAngle2: 06DF0Fhex = 450319
=> BeamAngle = 50.0 +
(450319 mod 900000)*0.000111111 = 100.0353 gon
= 90.0319 degree
TimeStamp2: 54B114hex = 5550356 x TimerUnit = 55.50356 sec
shot 2 is 70 microseconds after shot 1
TrueColorRed2: 0019hex = 25
TrueColorGreen2: 0023hex = 35
TrueColorBlue2: 000Ehex = 14
.
.

Trailer: 00 45 00 03 00 00 0C B1 54 (see next chapter)
ScanStatus: 0

ECPLineCounter: 0045hex => 69
Sync Counter 000003hex = 3; 3 trigger pulses (resetting the Sync timer)
have been detected on external pin TRIGGER
LineTimeStamp 54B10Chex 5550348 x TimerUnit = 55.50348 sec
Line started at time 55.50348 sec

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Element name (size)

Meaning

ECPLineCounter

ECPLineCounter = N1 + 256*N2

reading ECP data is fast enough not to loose any scan line.

Sync Counter

Sync Counter = S1 + 256*S2 + 65536*S3

each second).

LineTimeStamp

Line Time stamp [Parameter.TimerUnit] =

timer value latched with the first laser measurement of line.

6.4.1.4 Structure of Trailer

The trailer with Trailer ID 6.0 as the fol l owing structure:
ScanStatus:8 – ECPLineCounter:16
Trailer IDs greater or equal to 6.1 further add
… SyncCounter:24– LineTimeStamp:24

ScanStatus
(unsigned 8 bit)

(unsigned 16bit)
N1-N2

(unsigned 24 bit)
S1–S2–S3

(unsigned 24 bit)
T1-T2-T3

For future expansion.

This Counter is incremented with each complete line
transmitted to the internal ECP port buffer. Consecutive
ECPLineCounter values of data read by the user system
indicate, that no data is lost, or in other words, the system

The Sync counter counts external SYNC pulses (positive
edge) detected on input TRIG. Each pulse on the input also
resets the internal timer (LineTimeStamp and
LaserShotTimeStamp).
The input is typically used for GPS reference pulses (typically

T1 +256*T2 + 65536*T3
LineTime Stamp derived from the sensor's internal timer with
resolution [Parameter.TimerUnit].
The timer starts with system power up and is a 24bit timer,
although 32bit are reserved. With Parameter.TimerUnit =
10 microseconds, it therefore overflows after 167.77215
seconds. The timer can be reset by the rising edge of an
external pulse supplied via input TRIG (see chapter 5.4) for
synchronization to external events. LineTimeStamp is the

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No target available or badly reflecting target

0

0

Underflow,
Distance value less than 0 (including offsets)

0

0

6.4.1.5 Special Coded Status Data

There are several measurement situations where no distance measurement
data is available:

Measurement situation

Note that errors and status message (like programming mode of serial
interface) are not reported on the ECP data output.

Range

Amplitude

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6.4.1.6 ECP Port Data Buffer

The ECP port of the instrument has a data buffer integrated. If the data
receiving unit (the PC) is temporally inactive and cannot read data - e.g. when it
has to handle other tasks – this will not cause loss of data.

This data buffer can be configur ed by the user via 2 parameters:

• The number of data points (measurements) in a data block

• The number of blocks to be hold in memory

Configuring the ECP port buffer is automatically done with command
SCN_APPLY, so there is no need for the user to configure the ECP port buffer

These commands divide the internal data buffer in blocks (data lines)
according to data block size, so each block can store the desired number of
measurements.
The second parameter, the number of blocks to be hold, defines the maximum
value of blocks to be hold in memory. Setting this hold parameter to N blocks
means that the buffer holds a maximum of N blocks.
If N is large and reading of data is fast enough, the buffer will never fill up and
data read is always last data.
On the other hand, if reading is interrupted for a longer time (e.g. because the
data receiving unit is not interested on new data), this buffer will fill up. W hen
full, each new data line then overwrites the oldest of the N blocks already
filled.

Examples:

Blocks to be hold = 1; that means that 2 blocks are reserved. Start reading of
a block (and interrupting the reading for even a long time) locks this block
while the other block is always updated with the new data in the background.

Blocks to be hold = 2; that means that 3 blocks are reserved. Start reading of
a block (and interrupting the reading for even a long time) locks one block
while the other 2 blocks are filled alternatively in the background.

To guarantee, that always new data is to be read even when data reading is
interrupted for longer times, set blocks to be hold to 1.

To guarantee, that no data or as few as possible data is lost even when data
reading is interrupted for longer times, set blocks to be hold as large as possible
(data is lost from that time on when the internal data buffer is full) .

Data is set ready to be read via ECP as soon as a data block is filled. That
means, if a block (line) is defined to store 10 measurements, the block can be
read after 10 measurements (and not after the first one).

Technical Documentation and
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Laser Mirror Scanner LMS-Q280i

nInit (16) H

nAFD (14) H

nAck (10) P

Data (2-9)

BYTE N

T

D

T

∞

T

∞

T

L

T

H

T

D

BYTE N+1

Time

Minimum

Maximum

Description

T

0 D Minimum data
set up time

0

Infinite

Infinite
response time

T

0 L

35 ms

Peripheral
response time

T

0 H

1.0 s

Host
response time

6.4.1.7 ECP Port Timing

Timing diagram:

Page 69 of 79

T

∞

The timing diagram shows true voltage levels, which can be measured at the
corresponding connector pins. The ‘nInit’ line controls direction of the data
transfer. Since the only used direction is from the instrument to the computer,
this line may be ignored on non personal computer based implementations. The
data lines (2-9) must be input only on the computer in this case, and ‘nInit’ is
held low permanently.

The instrument prepares for data transmission by placing data on the bus. After
TD the instrument then sets ‘PeriphClk’ (nAck) low to indicate to be ready to
send the data. The computer then sets ‘HostAck’ (nAutoFd) high to
acknowledge the handshake. The instrument then sets ‘PeriphClk’ (nAck) high.
The computer is expected to accept the data and to set ‘HostAck’ (nAutoFd)
low, completing the transfer.

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Command

Reply

Range

Meaning

line). Data is set ready on the ECP port

6.4.2 Configuring the ECP Data Output

XBn<Cr> *XBn

XMn<Cr> *XMn

XOSn<Cr> *XOSn

1 ≤ n ≤
XBMAX

1)

1 ≤ n ≤
XMMAX

1)

0 ≤ n ≤ 6

Setting the of number of measurements per
block(
after n measurements (after whole data of a
line is ready)

Note: With setting of RF_NUMBER_L, X B
and XM are automatically set. No user
adjustment is necessary.

Setting the number of blocks (lines) hold in
memory. See description of ECP output
principles – Data Buffer

Note: With setting of RF_NUMBER_L, XB
and XM are automatically set. No user
adjustment is necessary

Setting the unit for range data;
n = 0: 1 mm n = 1: 2 mm
n = 2: 4 mm n = 3: 8 mm
n = 4: 16 mm n = 5: 32 mm
n = 6: 64 mm
The unit and resolution of range data on the
serial output is not effected.

For Q280i XOS is set to n=0 and there is
no need to change it

.XS<Cr> Query the ECP buffer size in words,

XNn <Cr> *XNn

0 ≤ n ≤
65535

1) Due to the limitation of the internal buffer the values XB and XM have limits

according to the followi ng formula:
for Q280i without optional true color receiver channel:

[ ( 11*XB + 3 ) div 2 + 1] * (XM+1) < XS
for Q280i with optional true color receiver channel:

[ ( 17*XB + 3 ) div 2 + 1] * (XM+1) < XS
where div means an integer division

for Q280i typically XS = 262143.
Set and query the ECPLineCounter, sent

with each line via the ECP port (see trailer
description). The counter e.g. can be reset to
0 before starting a scan sequence.

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Command

Reply

Range

Meaning

Fn<Cr>

*Fn

Setting the data blocks forming the ECP result output data.

purposes only)

0 ≤ n ≤
65535

The bits of the value have the following meaning:
bit 0: Enable range data output
bit 2: Enable amplitude data output
bit 3: Enable angle data output
bit 5: Enable quality data block
bit 6: Enable SYNCTimer data block
bit 7: Enable True color data block

Example: F5 sets output of range and amplitude value.
Note: The setting of the F – Parameter also effects the

data structure of the serial port data output (used for debug

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6.5 LAN interface

6.5.1 Overview

The LMS-Q280i provi des a LAN interface.
It implements 10Base-T/ 100Base-TX according IEEE802.3.

In your LAN, the LMS-Q280i behaves like a data server. A client computer can
connect to this server using TCPIP protocol. The instrument implements two
ports:

• port 20001 for data interfacing

• port 20002 for configuration

Both ports are to be seen as re-routing the respective local interface to be
accessible via a LAN. Thus, when the LAN interface is active, the local
interfaces, i.e. the ECP data output and the RS232-interface, are inactive.
There may be connections to these interfaces, but they will be ‘dead’.

Port 20001 transmits the 3D data in the same way the ECP data output does.
Thus, the definition of the data structure, as given in section 6.4.1, is fully
applicable to for this port. Port 20001 does not accept any incoming data.

Port 20002 re-routes the RS232-interface. Thus it provides the full functionality
of the RS232-interface to the client.

6.5.2 Activation

At startup of the instrument, the local interf aces are active (messages sent via
RS232). Depending on the setting of parameter IP_MODE,

• the LAN interface remains deactivated (IP_MODE0).

• The instrument checks if a LAN link can be found (IP_MODE1), i.e. if

the instrument is connected to a HUB (or PC) via a LAN cable.
Message “mWAIT_LANLINK” indicates this status. If this link is found
within the time specified by parameter IP_LANLINK_TIMEOUT, the
instruments activates the LAN interface and deactivates the local
interfaces (message “mLAN_CONTROL”). If the link is not found within
this time, the LAN interface remains deactivated and the local
interfaces keep active (message “mLOCAL_CONTROL”).

This method ensures, that – independent of the setting of IP_MODE - the local
interfaces can be activated by simply unplugging the LAN-cable and rebooting
the instrument.

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Command

Range

Meaning

6.5.3 Configuring the LAN Interface

IP_ADDRn<CR>

IP_MODEn<CR>

IP_APPLY<CR>

000.000.000.000 ≤
n ≤

Setting the IP address
(default: 192.0.168.234)

255.255.255.255
0 ≤ n ≤ 1

Setting the activation mode of the LAN
interface:
n = 0: LAN interface is off, local
interfaces ( ECP, RS232 ) are active
n = 1: LAN interface is preferred

- Activates all IP-xxxx settings and resets
the LAN interface!

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Command

Range

Meaning

To understand the following parameters, detailed knowledge about TCP/IP is
required. Thus be careful on modifying these settings!

IP_CHAR_TIMEOUTn<CR>

IP_CON_TIMEOUTn<CR>

IP_TRANS_RETRIESn<CR>

IP_LANLINK_TIMEOUTn<CR>

0 ≤ n ≤ 65535.

0 ≤ n ≤ 3600.

3 ≤ n ≤ 30000

2000 ≤ n ≤ 65535

Timeout for character transmission,
unit [ms]

Needs Super User Password
Timeout for TCP/IP connection, unit [s]: If

client does not show any activity within
this time, the instrument closes the
connection.

n = 0: no timeout, connection remains
unlimited time

1 ≤ n ≤ 29: behaves like n = 30
30 ≤ n ≤ 3600: timer activated
Needs Super User Password

Maximum number of re-transmissions of
a TCP/IP segment, if this number is
exceeded, the instrument closes the
connection.

Needs Super User Password
Timeout for detection of a link on the LAN

interface, unit [ms].

IP_GATEWAYn<CR>

IP_SUBNETMASKn<CR>

000.000.000.000 ≤ n
≤ 255.255.255.255

000.000.000.000 ≤ n
≤ 255.255.255.255

Needs Super User Password
Setting the IP address of the gateway,

this command is not used yet.
Needs Super User Password

Setting the subnet mask, this command
is not used yet.

Needs Super User Password

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6.6 Errors and Error Handling

The Scanner knows 4 different types of errors:

 Fatal Errors
 Standard Errors with Requested User Intervention
 Standard Errors
 Warnings

After power up the system checks and prepares several internal hardware
components. Errors are pushed onto an internal error stack. Therefore it can
happen that more than 1 error is reported.

A fatal error causes a lock of measurement and in programming mode only few
commands are available (e.g. .HELP, .ERR, Q ). The laser is switched off. Fatal
error messages always start with “FATAL:”

A standard error causes a lock of measurement, but programming mode is
available. Standard error messages always start with “ERROR:”

A standard error with requested user intervention like a standard error
locks the measurement; programming mode is available and error messages
start with “ERROR:”. These types of error need a user intervention, e.g. with a
“high temperature error” the instrument must be cooled down or with a “low
voltage error” the power supply voltage must be increased (perhaps battery
changed).

Warnings are reported, but measurement can be (or is) continued. Warning
messages always start with “WRNG:”

Errors occurred are pending until they are acknowledged with command
“ERRACK”. When errors are acknowledged, measurement can be continued.
Fatal errors can not be acknowledged.

In measurement mode errors are reported automatically as messages (e.g.
“mERROR:LOW_BAT”) . In programming mode an error is indicated by an
exclamation mark added to the reply string before the carriage return. To get
the error message, the command “.ERR” must be sent to receive a list of errors
occurred:

Example:
Command Reply Meaning
W<Cr> *W! An error occurred
.ERR \FATAL:FLASH_RW
=ERR

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Command

Meaning

.ERR<Cr

ERRACK< Cr>

.ERRCNT<Cr>

.ERRTYPE[n]<Cr>

.ERRNUM[n]<Cr>

Reading a list of all errors occured. Each error messag e o f a
pending error is coded in a line starting with “\”.

Error acknowledge. No further errors are pending after this
command is executed. Fatal errors cannot be acknowledged.

Reading the number of errors occurred.
Reading the error type of occurred error number n, starting

count of n with 0. Therefore .ERRTYPE[0] returns the error
type of the first (or only one) error pending.

Type(severity) Error
1 Standard error
2 Standard error with requested user
intervention
3 Fatal error

Reading the error code number (see table of error messages
following, column “Err No”) of occurred error number n,
starting count of n with 0.

.ERRSEV<Cr>

.ERRMSG[n]<cr>

Reading the severity of the most severe error occured.
Reading the error m essage (see table of error messages

following) of occurred error number n.
Note: E.g. n=0 means message of the first error occurred
and not the error message of error with error code number 0.

A list of errors is given on the next pages. If fatal errors occur, please contact
your sales representative.

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mERROR:TOO_MANY_ERRORS

1

Too many errors (>16), error stack
overflow, not all errors can be reported

Too many warnings (>16), not all warnings
can be reported

Error in reading or writing flash memory

Error on ECP data port; only for
instruments with ECP data output

mFATAL:BAD_MEAS_HW

16

Error in internal measurement hardware

mERROR:FLASHR_BAD_CS

21

Error in reading permanently saved
(but data was read!)

mFATAL:FLASHR_NOWRITE

22

Error in reading permanently saved
parameters.

not valid, but essential; cannot continue!

mERROR:FLASHR_BAD_USER_ID

25

User parameter data is not fitting to current

command W

mFATAL:FLASHW_FILE_TOO_LONG
mFATAL:FLASHR_BAD_TYPE

26
27

Could not save parameters permanently.

mWRNG:RS232_OVERFLOW

41

Serial interface error: some characters are

with command W

mERROR:LOW_TEMP

45

The instrument internal temperature is too
low

mERROR:HIGH_TEMP

46

The instrument internal temperature is too
high

mERROR:LOW_BAT

47

The supply voltage is too low

mERROR:HIGH_BAT

48

The supply voltage is too high

mERROR:BAD_SLOPE

50

Internal error: Bad essential parameter for
hardware configuration

mERROR:MEAS_BUFFER_OVERFLOW

51

Internal error: Buffer overflow, laser pulse

scan.

n saved Parameters have been outside
default.

mRGB_BAD_OFFSET_CAL

53

Error in RGB sensor (true color channel):
could not calibrate correctly

6.7 Status and Error Messages

Error

mWRNG:TOO_MANY_WARNINGS 2

mFATAL:FLASH_RW 11
mFATAL:BAD_ECP 12

mFATAL:LCA_DATA
mFATAL:LCA_INIT
mFATAL:LCA_DONE

mFATAL:FLASHR_BAD_BACKUP
mFATAL:FLASHR_BAD_FACT_ID 24

Err
No

13
14
15

23

Meaning

Error in internal hardware

parameters, a check-sum error was found

Factory parameter data is not fitting to the
current software version. Factory data is

software version. Some parameter settings
may be wrong. Check all user parameters,
reset them and save them again with

mWRNG:RS232_OVERRUN

mERROR:PARAMETERS_OUT_RANGE: n 52

42

lost in receiving. Possible reason:
Commands are sent while data is saved

rate (measurement rate) too high.
For scanners: lower the laser pulse rate by
increasing the angle step width of line

range, these parameters have been set to

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mFATAL:BAD_STREAM_ID

54

Internal Error in downloading hardware
specific data

mFATAL:SSL_TEMP_OUT_RANGE

57

Solid state laser types only: temperature
out of range

Solid state laser types only: shutter function
failed

mERROR:SCAN_COMMUNICATION

29

Error in communication between range
SC_ERROR for detailed reason of error

mERROR:SCAN_STATUS

30

Error in scanner unit. See parameter
SC_STATUS for detailed reason of error

Error, frame scanner does not m ove.

Internal Error in Serial Interface Device

mERROR:PRR_OUT_OF_RANGE

71

Solid state laser types only: Laser Pulse
rate out of range

mFATAL: PELTIER_TEMP_DEFECT

72

Solid state laser types only: Internal
hardware fault (Peltier element)

Solid state laser types only: Internal
hardware fault (Peltier element)

mERROR: PRR_INIT_OUT_OF_RANGE

74

Solid state laser types only: Internal
hardware fault: Laser Pulse rate out of
range

mFATAL:ECP_OVERFLOW

79

Error on internal ECP data port; ECP port
fifo overflows

Several parameters (e.g. the number of
are displayed in the ECP port Data Header.

such parameters.

mFATAL:ECP_SELFCHECK_FAILED

97

Error on internal ECP and / or TCPIP
hardware: internal self check failed

mERROR:TCPIP_BAD_MAC_ADDR

90

Ethernet MAC address invalid

mERROR:TCPIP_BAD_IP_ADDR

91

IP address invalid

mERROR:TCPIP_NOT_CONFIGURED

92

Internal LAN interface configuration error

mWRNG:TCPIP_DATA_PORT_OPEN

93

Several parameters (e.g. the number of

such parameters.

Error

mFATAL:SSL_SHUTTER FAILED 58

mERROR:SCAN_NO_MOTION 28
mFATAL:SID_RW_FAILED 70

mFATAL: PELTIER_ DEFECT 73

Err
No

Meaning

finder unit and scanner unit. See parameter

mWRNG:ECP_PORT_OPEN

82

measurements per line RF_NUMBER_L)
When changing such parameters, the

parallel ECP port must be closed the
parameters changed and programming
mode left, and the data port newly
reopened, so the new changed header can
be read by the user application. Therefore,
close the ECP parallel port before changing

measurements per line RF_NUMBER_L)
are displayed in the Data Header. When
changing such parameters, the connection
to TCP/IP data port must be closed, the
parameters changed and programming
mode left, and the data port newly
reopened, so the new changed header can
be read by the user application. Therefore,
close the TCP/IP data port before changing

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mFATAL:HTR_EM_LOTEMP

100

Internal heater module error

mFATAL:HTR_HW_FAILED

101

Internal heater module error

mFATAL:LASER_MODULE_DEFECT

102

Internal laser module failed

mFATAL:LASER_MODULE_NOT_READY

103

Internal laser module did not get ready

mFATAL:NO_LASER_REF

104

Internal laser module failed

105

Internal laser module, unexpected PRR

Error

mFATAL:PRR_OUT_OF_RANGE

Err
No

Meaning

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m##Q280i##

Startup message

mWAITSCAN

Scanner unit is started, wait until zero position
position of frame scan is reached.

mSCANNING

Scanning has already started; this message
indicates that a scan is in progress

mSCANNER_READY

Scanner is set “single triggered scan” mode and
ready to be triggered.

mWAIT_LASER

Solid state laser setup and test procedure is
started. This procedure is executed at
instrument power up and after standby.

mLASER_READY

Solid state laser setup and test procedure is
successfully finished.

mUNDERFLW

Range measurement result < 0 (including
only

No measurement, laser is switched off by
command ^F or LASER=0, usually relevant in
non scanning mode only

mLASER OFF

Message

Meaning

of frame scanner unit is detected and until start

offsets), usually relevant in non scanning mode