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1、Time Of Flight Prepared by SICK China Page: 2-24 Measurement range 250 m 80 m 30 m 10 m 3 m = 10% reflectivity = Max. Distance 250 m 80 m 34 m 80 m LD -LRS LD -OEM LMS 2X1 LMS 2XX LMS 400 Time Of Flight Prepared by SICK China Page: 3-24 Angular Range 180 90 360 300 70 LMS 400 LMS 211-S14 100 LMS 200
2、 LMS 211 LMS 221 180 LD-OEM LD-LRS LD-LRS Time Of Flight Prepared by SICK China Page: 4-24 LMS Laserscanner Principle of time-of-flight measurement Time Of Flight Prepared by SICK China Page: 5-24 LMS 211-S14/S27 最远距离最远距离80米、米、10反反 射率射率30米。米。 扫描频率扫描频率75HZ/扫描扫描 周期周期13.33ms。 扫描角度扫描角度90度、角度度、角度 分辨率分辨率0
3、.5度。度。 防护等级防护等级IP67。 使用温度使用温度-3050度。度。 RS232/422/Ethernet。 Time Of Flight Prepared by SICK China Page: 6-24 Time Of Flight Prepared by SICK China Page: 7-24 Time Of Flight Prepared by SICK China Page: 8-24 Time Of Flight Prepared by SICK China Page: 9-24 Time Of Flight Prepared by SICK China Page: 1
4、0-24 PC LMS Telegram Header Telegram End 8 Bit8 Bit16Bit STXCMDLEN 8 Bit ADR Depend on CMD # Data 16 Bit CRC 8 Bit Status Time Of Flight Prepared by SICK China Page: 11-24 Commando followed by subcommands The LMS answers to Host: CMD + 80h To LMS To PC First Byte CMD, last Byte Status Address of LMS
5、 + 80hTo PC: PC LMS 8 Bit8 BitLow ByteHigh Byte STXCMDLENLEN 8 Bit ADR STXStart Byte 02h00000010 ADRAddress of the subscriber contacted “0” Broadcast to all LMS “1 - 7F” address of single LMS 00000000 10000000 Telegram Header LEN (l)Length of TGM by counting Bytes00000010 LEN (h)00000000 To LMS: CMD
6、0000000 Time Of Flight Prepared by SICK China Page: 12-24 x16 + x15 + x2 +1 C Code Examples in Documentation 0:No Error 1:Info 2:Warning 3:Error 4:Fatal Error 0:LMS -xx1 up -xx4 1:LMI 2:LMS -xx6 3:Special Device Status of Digital Input incorrect values Pollution PC LMS StatusNOT in Telegram xxxxx000
7、 xxxxx001 xxxxx010 xxxxx011 xxxxx100 xxx00 xxx xxx01xxx xxx10 xxx xxx11xxx xx1xxxxx x1xxxxxx 1xxxxxxx Telegram End To LMS: CRC(l)0000000 16 Bit CRC 8 Bit Status CRC(h)0000000 Time Of Flight Prepared by SICK China Page: 13-24 Receive Bytes STX:ADR:LEN:LEN:CMD:DATA:STATUS:CRC Byte Position: Data (exam
8、ple for received data = B0H): 2 Byte + n x 2 Byte (Low, High) 100; 1=204ByteTotal = 204+8 = 212 Byte 100; 0,5=404= 412 100; 0,25=804= 812 180; 1=364= 372 180; 0,5=724= 734 180; 0,25=1444= 1452 1:2:3:4:5:n x 8:(nx8) + 1: (nx8) +2 Time Of Flight Prepared by SICK China Page: 14-24 PC LMS Time Of Flight
9、 Prepared by SICK China Page: 15-24 02 81 D6 02 . B0 69 02 00 02 0020 24 34 08 单次数据请求：单次数据请求：02 00 02 00 30 01 31 18 连续数据请求：连续数据请求：02 00 02 00 20 24 34 08 停止数据请求：停止数据请求：02 00 02 00 20 25 35 08 PC LMS Time Of Flight Prepared by SICK China Page: 16-24 交通应用案例交通应用案例 Time Of Flight Prepared by SICK China
10、 Page: 17-24 超高超宽限位应用超高超宽限位应用 Time Of Flight Prepared by SICK China Page: 18-24 海关体积测量限位海关体积测量限位 Time Of Flight Prepared by SICK China Page: 19-24 Switzerland 项目 货车体积测量货车体积测量 Time Of Flight Prepared by SICK China Page: 20-24 交通体积测量交通体积测量 Time Of Flight Prepared by SICK China Page: 21-24 隧道车辆测量及计数隧道车
11、辆测量及计数 Time Of Flight Prepared by SICK China Page: 22-24 控制隧道闯入者控制隧道闯入者 Time Of Flight Prepared by SICK China Page: 23-24 铁路维修机械防撞铁路维修机械防撞 Time Of Flight Prepared by SICK China Page: 24-24 受电弓电缆检测受电弓电缆检测 铁路，地铁电缆下垂度测量铁路，地铁电缆下垂度测量 Time Of Flight Prepared by SICK China Page: 25-24 无人驾车路面轮廓扫描应用无人驾车路面轮廓扫描应用 自动导航测量自动导航测量
