SICK LD-MRS 400001S01, LD-MRS 400102S01, LD-MRS 800001S01 User Manual

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CAN data protocol

LD-MRS 400001S01 LD-MRS 400102S01 LD-MRS 800001S01

Table of Content

1 Introduction 3 2 General information 3

2.1 CAN frame format 3

2.2 Identifiers 3

2.3 Message format 4

3 Object Data 5

3.1 List header: CAN Base ID (e.g. 0x500) 5

3.2 Timestamp: CAN Base ID + 0x1 (e.g. 0x501) 6

3.3 Tracking1: CAN Base ID + 0x2 (e.g. 0x502) 6

3.4 Tracking2: CAN Base ID + 0x3 (e.g. 0x503) 7

3.5 Class and box1: CAN Base ID + 0x4 (e.g. 0x504) 7

3.6 Box2: CAN Base ID + 0x5 (e.g. 0x505) 7

3.7 Contour header: CAN Base ID + 0x6 (e.g. 0x506) 8

3.8 Contour points: CAN Base ID + 0x7 (e.g. 0x507) 8

4 Command Interface 10

4.1 LD-MRS commands and command replies 10

4.1.1 Reset sensor 10

4.1.2 SaveConfig 11

4.1.3 Set Parameter 11

4.1.4 Get Parameter 11

4.1.5 Load Factory Defaults 12

4.1.6 Start Measure 12

4.1.7 Stop Measure 13

4.1.8 SetNTPTimestampSec 13

4.1.9 SetNTPTimestampFracSec 14

4.2 LD-MRS parameter list 15

4.3 Examples 22

5 LD-MRS error/warning 23

1.1 Error register 1 23

1.2 Error register 2 24

1.3 Warning register 1 25

1.4 Warning register 2 25

6 Ego motion information 26

1 Introduction

This document describes how data is received and transmitted via CAN. Addressed systems are LD-MRS400001S0, LD-MRS400102S01 and LD-MRS800000S01. This document is based on firmware version 3.02.

Note: The standard LD-MRSXXX (without “S01”) also has a CAN interface. This interface is used to control the external I/O-extender of the sensor and uses other commands. This document does not apply to this sensor type!

2 General information

2.1 CAN frame format

The LD-MRS uses CAN 2.0A with 11-bit identifiers. The baudrate is 500 kBit/s.

2.2 Identifiers

Each CAN messages has an identifier (ID). For the LD-MRS, a base ID can be set as a parameter (default is 0x500). This base ID defines a range of 16 subsequent IDs, starting with the base ID itself. E.g., with the base ID set to 0x500, the used CAN messages will have the IDs 0x500 through 0x50F.

As the message ID defines the message and its contents, each ID may only be used by one device (or for one purpose) on the CAN bus. If multiple sensors should be used on one CAN bus, each sensor must have a base ID that separates its ID range from the other devices.

Table 1: CAN ID overview

CAN ID

Default ID

Description

0x303 – 0x306

(fixed)

Vehicle motion data base ID

0x500

Object list header (start of object data)

base ID+1

0x501

Object timestamp

base ID+2

0x502

Tracking1: First set of information for an object

base ID+3

0x503

Tracking2: Second set of information for an object

base ID+4

0x504

Class and box1: Bounding box information for an object

base ID+5

0x505

Box2: Bounding box information for an object

base ID+6

0x506

Contour header: Start of contour information for an object

base ID+7

0x507

Contour points: Additional contour points.

base ID+8

0x508

Object list trailer

base ID+9

0x509

(unused)

base ID+10

0x50A

Command to the sensor.

base ID+11

0x50B

Reply from the sensor (for each received

command).

base ID+12

0x50C

(unused)

base ID+13

0x50D

(unused)

base ID+14

0x50E

(unused)

base ID+15

0x50F

Error messages

2.3 Message format

Message length is always 8 bytes, unless declared differently in the description. Message byte and bit numbering is zero based. E.g., the first data byte of a message ist byte 0, the last one byte 7. Data encoding is big endian (Motorola) for all messages except command, command reply and errors and warnings, which use little endian (Intel).

3 Object Data

Object data can be transmitted via CAN if the corresponding output flag is enabled in the sensor.

The ID range is CAN base ID … CAN base ID + 0x7, first and last ID included. For a base ID 0x500 the range is [0x500, 0x507].

One set of object data consist of:

 A list header message  A timestamp message  For each object:

o A Tracking1 message o A Tracking2 message o A Class and box1 message o A Box2 message o A contour header message o For each next 1-3 contour points:

 A Contour point message

Note: Data encoding is Big Endian format.

3.1 List header: CAN Base ID (e.g. 0x500)

Content

Data area

Data type

Description

Version

byte 0

UINT8

Version of the object data format. This document describes version 1.

Number of objects

byte 1

UINT8

Number of objects transmitted in this cycle.

View range estimation

byte 2

UINT8

Estimated maximum sensor view range on typical vehicles in percent [0,100]. 100: full view range 0: low view range 0xFF: invalid (no estimation possible)

Sensor temperature

byte 3

INT8

Current sensor temperature in °C. 0x80 indicates an invalid value.

Object data info flags

byte 4

bit field 8 bits

bit 0: Velocity type 0 = absolute velocities, 1 = relative velocities. bit 1: Bounding boxes 0 = boxes are object boxes (aligned to object), 1 = boxes are bounding boxes (aligned to axes of coordinate system). bits 2…7: reserved

Counter

byte 5

UINT8

Counter for header and trailer message (to be able to match header and trailer)

Blindness

byte 6

UINT8

0: sensor not covered; other: sensor covered = blind

Unused

byte 7

3.2 Timestamp: CAN Base ID + 0x1 (e.g. 0x501)

Content

Data area

Data type

Description

NTP seconds

bytes 0…3

UINT32

Start time of the scan these objects are based on.

NTP fractional seconds

byte 4…7

UINT32

Fractional seconds the scan start time.

3.3 Tracking1: CAN Base ID + 0x2 (e.g. 0x502)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use this ID to refer messages to an object.

Position x

bytes 1…2

INT16

Position of the object (reference point, e.g. center of gravity) in the reference coordinate system in cm.

Position y

bytes 3…4

INT16

Velocity x

byte 5 bits 0…7, byte 6 bits 4…7

INT12

Object velocity in 0.1 m/s in the reference coordinate system. See list header for absolute or relative velocities. 0x800 indicates an invalid velocity.

Velocity y

byte 6 bits 0…3, byte 7 bits 0…7

INT12

Please refer to this image for clarification of the bits and bytes used for each information:

Byte 7 6 5 4 3 2 1 0

0 1 2 3 4 5 Velocity X 6 7 Velocity Y

Bit

Object ID

Position X

Position Y

3.4 Tracking2: CAN Base ID + 0x3 (e.g. 0x503)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use this ID to refer messages to an object.

Object age

byte 1

UINT8

Number of scans this object has been tracked for. Saturates at 0xFF.

Object prediction age

byte 2

UINT8

Number of scans this object has only be predicted without measurement update. Saturates at 0xFF. Is reset to 0 after measurement update.

Object time offset

byte 3

UINT8

Detection time of this object as offset to the reference time stamp in ms.

Position x sigma

byte 4

UINT8

Standard deviation of the position estimation in cm.

Position y sigma

byte 5

UINT8

Velocity x sigma

byte 6

UINT8

Standard deviation of the velocity estimation in cm.

Velocity y sigma

byte 7

UINT8

3.5 Class and box1: CAN Base ID + 0x4 (e.g. 0x504)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use this ID to refer messages to an object.

reserved

byte 1

UINT8

reserved

byte 2

UINT8

reserved

byte 3

UINT8

reserved

Box center x

bytes 4…5

INT16

Center position of the box in cm. See list header for object box / bounding box.

Box center y

bytes 6…7

INT16

3.6 Box2: CAN Base ID + 0x5 (e.g. 0x505)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use this ID to refer messages to an object.

Box size x

bytes 1…2

UINT16

Size of the box in cm in the object coordinate system. The box orientation is only available for an object box. A bounding box is an unrotated rectangle in the reference coordinate system. In this case the box size is always given in the reference coordinate system. 0x8000 indicates an invalid orientation.

Box size x

bytes 3…4

UINT16

Box orientation

byte 5…6

INT16

Object box orientation in the reference coordinate system in 1/100°. 0x8000 indicates an invalid orientation.

Reserved

byte 7

3.7 Contour header: CAN Base ID + 0x6 (e.g. 0x506)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use this ID to refer messages to an object.

Number of contour points

byte 1

UINT8

Number of contour points including start point transmitted for this object. The number of following ObjectDataContour messages can be calculated by (NumOfContourPoints+1) Div 3. If this value is set to 0xFF (invalid), the contour of this object was not calculated correctly (e.g. too many contour points). In this case, the ContourStartpoint contains the closest distance to the object. No more contour point messages are sent for this object.

Closest contour point number

byte 2

UINT8

The closest object distance can be found in the contour point with this number. The numbering starts with 0 (start point).

Reserved

byte 3

Start point x

bytes 4…5

INT16

Position of the first contour point in cm in the reference coordinate system. This is the first point of the contour (or the closest distance, see above). The following contour points are only given by offsets to the previous points.

Start point y

bytes 6…7

INT16

3.8 Contour points: CAN Base ID + 0x7 (e.g. 0x507)

Content

Data area

Data type

Description

Object ID

byte 0

UINT8

ID of this object from the tracking. Use this ID to refer messages to an object.

Contour message number

byte 1

UINT8

Number of this contour message. Zero based.

x offset (e.g. point 1)

byte 2

INT8

Add these offsets to the position of the previous point. Calculate the position for

y offset (e.g. point 1)

byte 3

INT8

each contour point (besides the start point) using the offsets. First contour point is the start point sent in the contour header message. Note that these offsets have a resolution of 4 cm. Multiply these values by 4 to convert to cm.

x offset (e.g. point 2)

byte 4

INT8

y offset (e.g. point 2)

byte 5

INT8

x offset (e.g. point 3)

byte 6

INT8

y offset (e.g. point 3)

byte 7

INT8

3.9 List trailer: CAN Base ID (e.g. 0x508)

Content

Data area

Data type

Description

Number of object CAN messages sent

byte 0 - 1

UINT16

Number of CAN messages sent for the current object list.

NumOfWarningErr orMessagesSent

byte 2

UINT8

Number of warning/error messages sent since the last object list trailer:

Counter

byte 3

UINT8

Counter for header and trailer message (to be able to match header and trailer)

Unused

byte 4 - 7

4 Command Interface

Commands can be transmitted via CAN. The ID is CAN base ID + 0xA. Example: For a base ID 0x500 the command ID is 0x50A.

Attention: The data is encoded in little endian byte order in this message!

Content

Data area

Data type

Description

Command ID

bytes 0…1

UINT16

See detailed list of commands and according options/parameters.

Command data

bytes 2…7

Depending on command. May be unused for some commands.

After receiving a command a reply is always sent. The ID is CAN base ID + 0xB. Example: For a base ID 0x500 the command ID is 0x50B.

Attention: The data is encoded in little endian byte order in this message!

Content

Data area

Data type

Description

Reply ID

bytes 0…1

UINT16

If a command succeeded, the reply ID is equal to the corresponding command ID. If a command failed, the reply ID is the command ID + 0x8000. Thus, the most significant bit indicates a failed command.

Command data

bytes 2…7

Depending on command this reply is related to. May be completely unused for some replies and if a command failed.

4.1 LD-MRS commands and command replies

4.1.1 Reset sensor

Bytes

Offset

LD-MRS command: content

Content type

Description 2 0 0x0000

UINT16

Reset DSP

Restarts the sensor. For this command, no reply is sent. Example: Reset the sensor. Send the message ID=0x50A, DLC=2, Data=00 00. This will immediately reset the sensor. Note that no reply is sent from the sensor.

4.1.2 SaveConfig

Bytes

Offset

LD-MRS command: content

Content type

Description

2 0 0x0004

UINT16

Current sensor configuration will be saved permanently. Multiple SetParameter commands may be sent before saving the changes permanently.

The command SaveConfig will be acknowledged by the same command ID without command reply data.

4.1.3 Set Parameter

Bytes

Offset

LD-MRS command: content

Content type

Description

2 0 0x0010

UINT16

Set a single Parameter by its index to the sensor memory. Parameter is set only temporarily until a SaveConfig command (see 4.1.2) is sent.

2 2 Parameter index

UINT16

Refer to LD-MRS parameter list.

4 4 Parameter

UINT32

Set parameter accordingly to parameter list. If e.g. a 2 byte value is set, use the first 2 bytes. Fill the remaining 2 bytes with 0.

The command Set Parameter will be acknowledged by the same command ID without any command reply data.

4.1.4 Get Parameter

Bytes

Offset

LD-MRS command: content

Content type

Description

2 0 0x0011

UINT16

Read a single Parameter with its index from the LD-MRS.

2 2 Parameter index

UINT16

Refer to LD-MRS parameter list (4.2)

Bytes

Offset

LD-MRS reply: content

Content type

Description

2 0 0x0011

UINT16

Read a single Parameter by its index from the LD-MRS.

2 2 Parameter index

UINT16

Refer to LD-MRS parameter list (4.2)

4 4 Parameter

UINT32

Example: Read the data output flags. Send the message ID=0x50A, DLC=4, Data=11 00 12 10. Answer from the sensor is ID=050B, DLC=8, Data=11 00 12 10 80 00 00 00. Note that the two bold numbers can vary as they are the requested parameter.

4.1.5 Load Factory Defaults

Bytes

Offset

LD-MRS command: content

Content type

Description

2 0 0x001A

UINT16

Resets all parameters to the factory defaults.

The command Load Factory Defaults will be acknowledged by the same command ID without any command reply data.

Example: Send the message ID=0x50A, DLC=2, Data=1A 00. Reply from the sensor is the message ID=0x50B, DLC=8, Data=1A 00 00 00 00 00 00 00.

4.1.6 Start Measure

Bytes

Offset

LD-MRS command: content

Content type

Description

2 0 0x0020

UINT16

Starts the measurement with the current settings.

The command Start Measure will be acknowledged by the same command ID without any command reply data.

Example: Send the message ID=0x50A, DLC=2, Data=20 00. Reply from the sensor is the message ID=0x50B, DLC=8, Data=20 00 00 00 00 00 00 00.

4.1.7 Stop Measure

Bytes

Offset

LD-MRS command: content

Content type

Description 2 0 0x0021

UINT16

Stops the measurement.

The command Stop Measure will be acknowledged by the same command ID without any command reply data. Example: Send the message ID=0x50A, DLC=2, Data=21 00. Reply from the sensor is the message ID=0x50B, DLC=8, Data=21 00 00 00 00 00 00 00.

4.1.8 SetNTPTimestampSec

Bytes

Offset

LD-MRS command: content

Content type

Description

2 0 0x0030

UINT16

sets the second of NTPtimestamp.

2 2 Reserved0

UINT16

4 4 Timestamp

UINT32

Seconds (NTP format). The time will be set in the sensor when the fractional seconds command is received (see 0).

The command SetNTPTimestampSec will be acknowledged by the same command ID without any command reply data.

Example: To set the NTP-Seconds to 0x12345678, send the message ID=0x50A, DLC=8, Data=30 00 00 00 78 56 34 12. Reply from the sensor is the message ID=0x50B, DLC=8, Data=30 00 00 00 00 00 00 00.

Note that in order to set the time, you must send the fractional seconds with the command SetNTPTimestampFracSec command next!

4.1.9 SetNTPTimestampFracSec

Attention: Before this command can be executed, first command "SetNTPTimestampSec” (0x0030) must be sent (see 4.1.8)!

Bytes

Offset

LD-MRS command: content

Content type

Description

2 0 0x0031

UINT16

sets the fractional second of NTPtimestamp.

2 2 Reserved0

UINT16

4 4 Timestamp

UINT32

Fractional seconds (NTP format).

The command SetNTPTimestampFracSec will be acknowledged by the same command ID without any command reply data.

4.2 LD-MRS parameter list

This table gives an overview of available LD-MRS parameters. Please refer to 4.1.3 and

4.1.4 for details on getting and setting these parameters. IP address, subnet mask and standard gateway encode the data as UINT32 value which

is built like that: aa.bb.cc.dd = 0xaabbccdd. Due to little endian byte order this value must be sent as 0xddccbbaa.

Bytes

Parameter index

LD-MRS parameter

datatype

Description 4

0x1000

IP address

UINT32

Valid: all

0x1001

TCP Port

UINT32

Valid: all

0x1002

Subnet Mask

UINT32

Valid: all

0x1003

Standard gateway

UINT32

Valid: all

0x1010

CAN Base ID

UINT32

Valid: value <= 0x7F0

0x1011

CAN Baud Rate

UINT16

in kBaud - next matching value (1000 kBaud, 500 kBaud, 250 kBaud, 125 kBaud) will be used.

0x1012

Data Output Flag

16 bit field

Bit true: disable output, false: enable output. 0xFFFF is invalid. bit0: ETH scan data bit1: reserved/internal bit2: ETH object data bit3: ETH vehicle data bit4: ETH errors/warnings bit5: CAN errors/warnings bit6: CAN object data bit7...15: reserved

0x1013

maxObjectsViaCAN

UINT16

<= 65 (max. number of objects) limited by tracking and CAN bus capacity.

0x1014

ContourPointDensity

UINT16

Valid: < 3 0: closest point only 1: low density 2: high density

0x1015

ObjectPriorizationCrit erion

UINT16

Valid: < 2 Used to reduce transmitted objects via CAN. Decision which objects are discarded is based on this criterion. 0: Radial 1: Look ahead

Bytes

Parameter index

LD-MRS parameter

datatype

Description

0x1016

CAN object data options

16 bit field

Valid: all bit 0: 0 = absolute velocities, 1 = relative velocities bit 1: 0 = boxes are object boxes, 1 = boxes are bounding boxes bits 2…15: reserved

0x1017

Minimum Object Age

UINT16

Valid: all Minimum tracking age (number of scans) of an object to be transmitted.

0x1018

Maximum Prediction Age

UINT16

Valid: all Maximum prediction age (number of scans) of an object to be transmitted.

0x1100

Start angle

INT16

In 1/32°, in the sensor coordinate system. Valid: 1600…-1919. Start angle > end angle!

0x1101

End angle

INT16

In 1/32°, in the sensor coordinate system. Valid: 1599…-1920. Start angle > end angle!

0x1102

Scan frequency

UINT16

In 1/256 Hz. Valid: 3200 (12.5 Hz) 6400 (25.0 Hz) 12800 (50.0 Hz)

0x1103

Sync angle offset

INT14 (!) (16 bits transferred)

In 1/32° in the sensor coordinate system. Valid: -5760…+5759 (-180°…+180°). Bits 14 and 15 are ignored!

0x1104

angular resolution type

UINT16

0: focused 1: constant 2: reserved

0x1105

angleTicksPerRotati on

UINT16

11520 (read only), constant for LD-MRS

0x1108

RangeReduction

UINT16

Available for LDMRS800001.S01 only

0: full sensitivity (default) 1: lower 4 layers reduced 2: upper 4 layers reduced 3: both reduced

Bytes

Parameter index

LD-MRS parameter

datatype

Description

0x1109

Upside down mode

UINT16

Available for LDMRS800001.S01 only

0: device not in upside down mode (default) 1: upside down mode active

0x110A

Ignore near range

UINT16

Available for LDMRS800001.S01 only

0: do not ignore points in near range (up to 15m) (default) 1: ignore points in near range if 0x1108 is 1

0x110B

Sensitivity control active

UITN16

0: not active (default) 1: Sensitivity will be reduced dynamically up to 60% in case of direct sun light.

0x1200

SensorMounting_X

INT16

In cm, related to vehicle reference point, rear axle. Order of translation and rotation is essential (Rotation -> Translation).

0x1201

SensorMounting_Y

INT16

In cm, related to vehicle reference point, rear axle. Order of translation and rotation is essential (Rotation -> Translation).

0x1202

SensorMounting_Z

INT16

In cm, related to vehicle reference point, rear axle. Order of translation and rotation is essential (Rotation -> Translation).

0x1203

SensorMounting_Ya w

INT16

In 1/32°, order of translation and rotation is essential (Yaw->Pitch>Roll-> Translation).

0x1204

SensorMounting_Pit ch

INT16

In 1/32°, order of translation and rotation is essential (Yaw->Pitch>Roll-> Translation).

Bytes

Parameter index

LD-MRS parameter

datatype

Description

0x1205

SensorMounting_Rol l

INT16

In 1/32°, order of translation and rotation is essential (Yaw->Pitch>Roll-> Translation).

0x1206

VehicleFrontToFront Axle

UINT16

valid: all; in cm

0x1207

FrontAxleToRearAxl e

UINT16

valid: all; in cm

0x1208

RearAxleToVehicleR ear

UINT16

valid: all; in cm

0x1209

VehicleWidth

UINT16

Width of the vehicle; valid: all; in cm.

0x120A

steerRatioType

UINT16

Reserved, internal.

0x120C

SteerRatioPoly0

Float32

Reserved, internal. Valid: all

0x120D

SteerRatioPoly1

Float32

Reserved, internal. Valid: all

0x120E

SteerRatioPoly2

Float32

Reserved, internal. Valid: all

0x120F

SteerRatioPoly3

Float32

Reserved, internal. Valid: all

0x1210

Vehicle Motion Data Flags

16 bit field

Reserved, internal. Bit 0: Vehicle Motion data expected: 1=true, 0=false Bits 1 to 15: reserved

0x2208

EnableSensorInfo

UINT16

Enable flag for “SensorInfo”-data. Default is 0 (disabled). When set to 1, the sensor sends SensorInfo data with each scan.

Please refer to chapter Fehler!

Verweisquelle konnte nicht gefunden werden. for details.

This setting is non-persistent and has to be re-activated after each reboot.

Bytes

Parameter index

LD-MRS parameter

datatype

Description

0x3302

BeamTilt

CompressedR adian

Beam tilt angle. For standard devices, this angle is 0. For 8-layer devices, this is the tilt of the scan center in 0° (forward) direction typically either 1.2° or 1.6°.

For a description of the data format, see chapter Fehler!

Verweisquelle konnte nicht gefunden werden..

0x3500

Timemeter

UINT32

Current timemeter value, in [minutes]. This is the overall power-on-time of the sensor since production.

This parameter is read-only.

0x3600

Enable APD control

UINT16

Enables adaptive sensitivity control. If disabled, sensor works at maximum sensitivity. Valid values are 1 (Enabled, DEFAULT) or 0 (Disabled).

This parameter is not persistent; it will not be saved in the flash memory and is set to default (=enabled) at reboot. This parameter is available only in DSP firmware version 2.2.09.

0x4000

NumSectors

UINT16

FlexRes feature: Number of angle sectors. This defines the number of valid sectors, set with the following parameters.

The sensor checks the validity of the sectors before applying the configuration. In case of an error, read parameter 0x7000 for further information.

0x4001

StartAngle, Sector 1

INT16

In 1/32°, in the sensor coordinate system. Valid: 1600…-1919. This is the start angle of the first sector.

The angular resolution for this sector is set with parameter 0x4009.

Bytes

Parameter index

LD-MRS parameter

datatype

Description

0x4002

StartAngle, Sector 2

INT16

In 1/32°, in the sensor coordinate system. Valid: 1600…-1919. This is the start angle of the second sector.

The angular resolution for this sector is set with parameter 0x400A.

0x4003

StartAngle, Sector 3

INT16

…see above.

0x4004

StartAngle, Sector 4

INT16

…see above.

0x4005

StartAngle, Sector 5

INT16

…see above.

0x4006

StartAngle, Sector 6

INT16

…see above.

0x4007

StartAngle, Sector 7

INT16

…see above.

0x4008

StartAngle, Sector 8

INT16

…see above.

0x4009

Angular resolution, Sector 1

INT16

Angular resolution of first sector. Valid values are 32 (1.0°), 16 (0.5°), 8 (0.25°) and 4 (0.125°).

0x400A

Angular resolution, Sector 2

INT16

Angular resolution of second sector.

0x400B

Angular resolution, Sector 3

INT16

…see above.

0x400C

Angular resolution, Sector 4

INT16

…see above.

0x400D

Angular resolution, Sector 5

INT16

…see above.

0x400E

Angular resolution, Sector 6

INT16

…see above.

0x400F

Angular resolution, Sector 7

INT16

…see above.

0x4010

Angular resolution, Sector 8

INT16

…see above.

Bytes

Parameter index

LD-MRS parameter

datatype

Description

0x7000

Detailed error code for FlexRes

UINT32

Detailed error information for FlexRes feature. When parameter setting of 0x4000 fails, reading this parameter will give the reason.

0x006C: The number of shots

per scan is higher than

440.

0x006D: The sectors with a

resolution of 0.125° sum up to more than 20°.

0x006E: The scan frequency is

not 12.5Hz.

0x006F: The start angles of the

sectors decrease not strictly monotone.

0x0070: Could not set FlexRes

parameter because the sensor is not idle and in flex res mode.

0x0071: The resolution of one

sector is not 4,8,16 or 32 (0.125°, 0.25°, 0.5°, 1°)

0x0072: The number of sectors

is larger than 8

4.3 Examples

This example shows how to set the IP address via CAN to 10.152.36.200.

Bytes

Message ID: CAN base ID + 0xA e.g. 0x50A

Content type

Content 0

Command ID: 0x0010

UINT16 0x10

0x00

Parameter index: 0x1000 (IP Address)

UINT16 0x00

0x10

Parameter data (here: 10.152.36.200, resp. 0x0A9824C8)

UINT64 0xC8

0x24

0x98

0x0A

5 LD-MRS error/warning

As soon as a LD-MRS laserscanner detects an error or wants to emit a warning, this message is sent asynchronously. Errors and warning bits are reset after sending this message. This message will be sent periodically as long as errors of warnings persist. The ID is CAN base ID + 0xF. Example: For a base ID 0x500, the command ID is 0x50F.

This message is encoded in Little Endian format!

Name

Data area

Data type

Description

Error register 1

bytes 0…1

bit field 16 bits

See detailed description below

Error register 2

bytes 2…3

bit field 16 bits

Warning register 1

bytes 4…5

bit field 16 bits

Warning register 2

bytes 6…7

bit field 16 bits

1.1 Error register 1

This register contains error flags from the FPGA of the scanner.

Bytes

Comment

Bit 0

contact support

Bit 1

contact support

Bit 2

scan buffer transmitted incompletely, decrease scan resolution/frequency/range; contact support

Bit 3

Scan buffer overflow , decrease scan resolution/frequency/range; contact support

Bit 4

contact support

Bit 5-7

Reserved

Bit8…9

Bit 8: APD Under Temperature, provide heating. This bit is set when the internal temperature drops below -40°C. Bit 9: APD Over Temperature, provide cooling. This bit is set when the internal temperature rises above +125°C. Bit 8 and 9: APD Temperature Sensor defect, contact support

Bit 10

contact support

Bit 11

contact support

Bit 12

contact support

Bit 13

contact support

Bit 14-15

Reserved

1.2 Error register 2

This register contains error flags from the processor of the scanner.

Bytes

Comment

Bit 0

Internal communication error. The DSP did not receive any scan data from the FPGA. This error typically occurs if the sensor cannot measure correctly. If the error persists, contact support.

Bit 1

Internal communication error. The DSP could not communicate correctly with the FPGA via the control interface. If the error persists, contact support.

Bit 2

Internal communication error. The DSP did not receive valid scan data from the FPGA for more than 500 ms. This error may be caused by the current operating state (e.g. failure of the motor control due to heavy vibration), or by an internal defect. If the error persists, contact support.

Bit 3

contact support

Bit 4

Incorrect configuration data, load correct configuration values.

Bit 5

Configuration contains incorrect parameters, load correct configuration values

Bit 6

Data processing timeout, decrease scan resolution or scan frequency

Bit 7

contact support

Bit 8

Incoming CAN message lost. This is an overflow of the input buffer, and at least one incoming CAN message was lost. This error may indicate that the sensor is flooded with incoming messages. Reduce the number of messages.

Bit 9

reserved

Bit 10

Severe deviation (> 10%) from expected scan frequency. This may indicate motor trouble. If error persists, contact support.

This bit is available in firmware v2.2.09 and 3.02 or newer.

Bit 11

Motor blocked. No rotation of the internal mirror was detected, and automatic restart has failed. This may indicate motor trouble. If error persists, contact support.

This bit is available in firmware v2.2.09 and 3.02 or newer.

Bits 1215

reserved

1.3 Warning register 1

This register contains warning flags from the FPGA of the scanner.

Bytes

Comment

Bit0-2

reserved

Bit3

warning of insufficient temperature (“Low temperature”). This bit is set when the internal temperature drops below

-30°C.

Bit4

warning of exceeding temperature (“High temperature”). This bit is set when the internal temperature rises above +115°C.

Bit5-6

reserved

Bit 7

check syncronisation- and scan frequency

Bit 8…15

reserved

1.4 Warning register 2

This register contains warning flags from the processor of the scanner.

Bytes

Comment

Bit0

reserved

Bit1

Ethernet interface blocked, check Ethernet connection

Bit2

reserved Bit3

contact support

Bit4

Check Ethernet data

Bit5

Incorrect or forbidden command received, check command

Bit6

Memory access failure, restart LD-MRS, contact support

Bit7..14

Internal warning states: Bit 7: Segement overflow Bit 8: EgoMotion Bit 9: MountingPosition Bit 10: calculated frequency Bit 11: no ntp time Bit 12: no time sync pps Bit 13: no time sync command Bit 14: no time sync

Bit 15

Slight deviation from expected scan frequency (5..10%). This may occur during operation due to vibration or sensor movement, but may also indicate motor trouble.

This bit is available in Firmware v2.2.09 and 3.02 or newer.

6 Ego motion information

Algorithms working in the LD-MRS are designed to use ego motion information if the sensor is mounted e.g. on a vehicle. The ego motion data is the data from the vehicle, e.g. ist speed, that is supplied to the sensor. Generally this data is not mandatory, but data quality from the sensor will increase if sensor is moving and reliable ego motion information is supplied via CAN. Data update rate must be at least the scan frequency of the LD-MRS, but may be higher for better results.

If vehicle motion data is supplied, it must be sent in the predefined CAN messages specified below.

Note: Data encoding is Big Endian format.

0x303

Data area

Data type

Description

Version

byte 0

UINT8

Set to 2.

Velocity

bytes 1…2

INT16

Velocity in 0.01 m/s. Two’s complement. Forward: positive values.

0x304

Data area

Data type

Description

Version

byte 0

UINT8

Set to 2.

Cross acceleration

bytes 1…2

INT16

Cross acceleration in 0.001 m/s². Two’s complement. To the left: positive values.

0x305

Data area

Data type

Description

Version

byte 0

UINT8

Set to 2.

Steering wheel angle

bytes 1…2

INT16

Steering wheel angle in 0.001 rad. Two’s

complement. To the left: positive values. 0x306

Data area

Data type

Description

Version

byte 0

UINT8

Set to 2.

Yaw rate

bytes 1…2

INT16

Yaw rate in 0.0001 rad/s. Two’s complement. To the left: positive values.

SICK LD-MRS 400001S01, LD-MRS 400102S01, LD-MRS 800001S01 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual