SOPAS Communication Interface Description OLS10. Version: A Copyright SICK AG,

Transcription

1 SOPAS Communication Interface Description OLS10 Version: A Copyright SICK AG,

2 Version History Version Description Date 1.0 Initial Version Copyright Copyright 2018 SICK AG Erwin-Sick-Str Waldkirch Germany Document Info This document was generated with SOPAS Documentation Generator R. Generation Date: at 14:19:51 i SICK AG - Germany - All rights reserved OLS10

3 Table Of Contents 1. General Introduction User Level Variables Methods Events Datatypes Interfaces TCP/IP Cola-B Dataframe Compatibility and migrating client software Group: V Variable: DeviceIdent Variable: CidVersion Variable: DetailedVersion Variable: SOPASVersion Variable: LocationName Variable: SerialNumber Variable: FirmwareVersion Variable: SopasInfo Method: SetAccessMode Method: NotifyMode Method: GetAccessMode Method: Run Method: GetDescription Device configuration Variable: bsensorflipped Variable: uiminpeakwidth Variable: uimaxpeakwidth Variable: uidefaultpeakwidth Variable: uimaxnumberofmissingtrackreadings Ethernet Variable: busedhcp Variable: udiipaddress Variable: udisubnetmask Variable: udigatewayaddress Method: applyethernetconfiguration CANopen settings OLS10 SICK AG - Germany - All rights reserved ii

4 Variable: usinodeid Variable: ecanopenlssbitrate Variable: uitpdo_eventtime Result data Variable: strackdetectionresult Event: OLSResultEvent Method: syncclk Index iii SICK AG - Germany - All rights reserved OLS10

5 1. General 1.1. Introduction This document describes the functional interfaces of the OLS10 device, A. The OLS10 device is a SOPAS device. SOPAS devices may have Variables, Methods and Events User Level Whether a Variable can be written or a Method can be executed by a user depends on the least user level. Defined user levels are: ID Name 0 (Run) 1 Operator 2 Maintenance 3 Authorized Client 4 Service 5 SICK Service 6 Production 7 Developer Table 1: User Levels 1.3. Variables Variables can always be read and can only be written by a user with sufficient user level Methods Methods can be invoked by using certain parameters. The method will return with a structure of one or more return values. If a Method can be invoked depends on the least user level Events Events can be registered and will then be fired by the device to the registered client. Most Events have parameters which are the data coming with the Event Datatypes All items of the interface have certain data elements. These are the Variables itself, the parameters of Methods and Events and the return values of the Methods. The structure of the data elements can be one of the following BasicType(s), Structures or Arrays. Basic Type Name Description Range of values Bool boolean True(1), False(0) USInt unsigned short (8 bit) (0..255) OLS10 SICK AG - Germany - All rights reserved 1

6 Name Description Range of values UInt unsigned int (16 bit) ( ) UDInt unsigned double int (32 bit) ( ) ULInt unsigned long int (64 bit) ( ) SInt signed short (8 bit) ( ) Int signed int (16 bit) ( ) DInt signed double int (32 bit) ( ) LInt signed long int (64 bit) ( ) Real IEEE-754 single precision (32 bit) (float) See specification in IEEE-754 LReal IEEE-754 single precision (64 bit) (double) See specification in IEEE-754 Enum8 short enumeration (8 bit) certain values defined in a list of choises (0-255) Enum16 short enumeration (16 bit) certain values defined in a list of choises ( ) String array of visible characters (array of 8 bit) a character = an USInt with values between 0x20..0xFF FlexString Byte array of visible characters with preeding current length (UInt lenght) (array of 8 bit) bitset definition (8 bit). Detailed specification of bits UInt1..UInt16 = UInt (1..16 bit) Int1..Int16 = Int (1..16 bit) Enum1..Enum16 = Enum16 (1..16 bit) Bool = Bool (1 bit) See description of String and FlexArray value is transfered as an array of USInt. See "XByte Serialisation" document for further details on bit ordering Word bitset definition (16 bit), see description of Byte value is transfered as an array of USInt see "XByte Serialisation" document for further details on bit ordering. DWord bitset definition (32 bit), see description of Byte value is transfered as an array of USInt see "XByte Serialisation" document for further details on bit ordering. LWord bitset definition (64 bit), see description of Byte value is transfered as an array of USInt see "XByte Serialisation" document for further details on bit ordering. XByte SCont bitset definition (8,16,24,32,... bit) see description of Byte bitset definition (8 bit). Detailed specification of bits UInt1..UInt16 = UInt (1..16 bit) Int1..Int16 = Int (1..16 bit) Enum1..Enum16 = Enum16 (1..16 bit) Bool = Bool (1 bit) value is transfered as an array of USInt see "XByte Serialisation" document for further details on bit ordering. value is transfered as USInt. Cont bitset definition (16 bit), see description of SCont value is transfered as UInt. DCont bitset definition (32 bit), see description of SCont value is transfered as UDInt. LCont bitset definition (64 bit), see description of SCont value is transfered as ULInt. Table 2: Basic Datatypes Struct A structure is a sequence of further types. These types can be of a BasicType, Structs again or an Array. Array An Array is a repetition of a type. The length of the array is defined with each Array. The types can be of a BasicType, a Struct or an Array again (n- dimensional). Flex Array A FlexArray is a repetition of a type with a variable length. The maximum length of the array is defined with each FlexArray. The current length of the FlexArray is transferred as a UInt preceeding the Array itself. The types can be of a BasicType, a Struct or an Array again (n- dimensional). 2 SICK AG - Germany - All rights reserved OLS10

7 2. Interfaces 2.1. TCP/IP Cola-B Dataframe The PS30 supports the SICK CoLa-B (Command Language B) protocol via TCP/IP at port This protocol follows a strict request-response scheme, ie. the client PC sends a single request telegram to the host PS30 which always acknowledges the request with a single telegram. Description rules Named values (characters, sequences) are printed in sharp brackets: <>. Numbers (decimal or hexadecimal (0x )) in sharp brackets represent one single byte with the respective Value,e.g. <0x10>. Names in curly brackets are placeholder for parts of the telegram with different lengths, e.g. {SVIdx}. Numbers are always decimal number unless they have a prefix 0x or are declared otherwise. Numbers starting with 0x are hexadecimal numbers. CoLa-B commands Following CoLa-B commands are implemented: Figure 1. CoLa-B command and respond format. The request and acknowledge command are ascii encoded while the indices are encoded as unsigned 16-Bit MSB first values. Encoding of values and parameters is described in the previous chapter General. Variable and method indices and the variable and parameter types are listed in the following chapters of this document. CoLa-B Errorcodes OLS10 SICK AG - Germany - All rights reserved 3

8 Following errorcode may appear after requesting a a CoLa-B command in an sfa-response: Telegram structure by example This section describes an example TCP/IP-frame for requesting the content of variable FirmwareVersion (index 4) of the PS30. Figure 2. TCP/IP request frame. Example: query variable firmware version. The telegram begins with the CoLa framing start block (yellow), which is constructed in the following way: The STx-Sequence is always 0x Data length is the 32-bit length value (encoded as MSB first) of the CoLa-B content in bytes. The checksum field is not counted.the length of the CoLa-B content in this example is 5 bytes. After the CoLa framing start block the CoLa-B command block (white) follows.this example shows the CoLa-B command Read Variable (ASCII-encoded sri ) of variable FirmwareVersion at index 4. The telegram ends with the CoLa framing end block (yellow) containing only the checksum byte.the checksum byte is computed by XOR ing all bytes in the CoLa-B command block, here Bytes 9 to 13. In this example the checksum is 0x6c. The PS30 could answer with the following response frame: 4 SICK AG - Germany - All rights reserved OLS10

9 Figure 3. TCP/IP response frame. Example: response to query variable firmware version. The CoLa framing start and end fields are constructed as in the request frame. The value field of the response must be interpreted according to the datatype. In this example the datatype of variable FirmwareVersion is a Flexstring. Event registration The sensor supports automatic transmission of periodic or event-based data to the client. In order to use this mechanism the client must register to specfic events via the CoLa-B command Register Event (ASCII-encoded sei ). This command is used to register or unregister an event identified by its 16-bit unsigned event index value.the 8-bit variable Register provides information if the event shall become registered (value: 1) or unregistered (value: 0) from automatic transmission to the sensor. Following example shows the telegram for registering event with index 26: OLS10 SICK AG - Germany - All rights reserved 5

10 Figure 4. TCP/IP event registration frame example. Please note that the checksum field is not supported by all events. For support of checksum see the description of the particular event. In case checksum is not supported, the sensor fills in a byte with hexadecimal code 0xFF in the checksum field. 6 SICK AG - Germany - All rights reserved OLS10

11 2.2. Compatibility and migrating client software In order to handle future interface versions of the sensor software it is highly recommended to evaluate the variable DeviceIdent.Version (see section 2.3.1) which contains the interface version. This should be done as a first step immediately after establishing ethernet connection to the sensor. Only parameters and communication format defined by the appropriate interface version document should be used by the communicating client Group: V Variable: DeviceIdent The following section contains a detailed description of the variable DeviceIdent. Variable Overview Variable Name DeviceIdent Description Unique Identification of device Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is not relevant for synchronisation with SOPAS ET. 0 (fixed) No! (readonly) Struct Name FlexString Length 0..5 Initialisation OLS10 Version FlexString Length Initialisation A OLS10 SICK AG - Germany - All rights reserved 7

12 Variable Telegram Syntax Read Variable: sri 0 Command Type sri String 3 Read SOPAS Variable by Name Command 0 String 1 Unique Identification of device Read Variable Response: sra 0 <Name> <Version> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 0 String 1 Unique Identification of device Variable Data 1 Name FlexString 5 Variable Data 2 Version FlexString 13 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: sri h Read Variable Response: B F 4C D 31 2E E 31 2E D sra O LS Am Variable: CidVersion The following section contains a detailed description of the variable CidVersion. Variable Overview Variable Name CidVersion Description Version of communication interface description Sopas Synchronisation Variable is not relevant for synchronisation with SOPAS ET. Sopas Index 13 Read-Access Write-Access No! (readonly) Struct MajorVersion UInt Value Range Initialisation 1 8 SICK AG - Germany - All rights reserved OLS10

13 Struct MinorVersion UInt Value Range Initialisation 200 PatchVersion UInt Value Range Initialisation 1 BuildNumber UDInt Value Range Initialisation 3930 VersionClassifier Enum8 Default Value A Value Name Description 0 C Release Candidate 1 A Alpha 2 B Beta 3 R Release 4 S Special Variable Telegram Syntax Read Variable: sri 13 Command Type sri String 3 Read SOPAS Variable by Name Command 13 String 2 Version of communication interface description Read Variable Response: sra 13 <MajorVersion> <MinorVersion> <PatchVersion> <BuildNumber> <VersionClassifier> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 13 String 2 Version of communication interface description Variable Data 1 MajorVersion UInt 2 Variable Data 2 MinorVersion UInt 2 Variable Data 3 PatchVersion UInt 2 Variable Data 4 BuildNumber UDInt 4 Variable Data 5 VersionClassifier Enum8 1 OLS10 SICK AG - Germany - All rights reserved 9

14 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: D 65 sri e Read Variable Response: D C F 5A 01 F1 sra Z Variable: DetailedVersion The following section contains a detailed description of the variable DetailedVersion. Variable Overview Variable Name DetailedVersion Description extended Cid Version, especially for analysers Sopas Synchronisation Variable is not relevant for synchronisation with SOPAS ET. Sopas Index 14 Read-Access Write-Access No! (readonly) FlexString Length Variable Telegram Syntax Read Variable: sri 14 Command Type sri String 3 Read SOPAS Variable by Name Command 14 String 2 extended Cid Version, especially for analysers Read Variable Response: sra 14 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 14 String 2 extended Cid Version, especially for analysers Variable Data data FlexString SICK AG - Germany - All rights reserved OLS10

15 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: E 66 sri f Read Variable Response: E E sra n Variable: SOPASVersion The following section contains a detailed description of the variable SOPASVersion. Variable Overview Variable Name SOPASVersion Description Version of SOPAS runtime (SOPAS DCD) Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is not relevant for synchronisation with SOPAS ET. 1 (fixed) No! (readonly) Struct Version USInt Value Range Initialisation 3 Release USInt Value Range Initialisation 8 Build UInt Value Range Initialisation 49 OLS10 SICK AG - Germany - All rights reserved 11

16 Variable Telegram Syntax Read Variable: sri 1 Command Type sri String 3 Read SOPAS Variable by Name Command 1 String 1 Version of SOPAS runtime (SOPAS DCD) Read Variable Response: sra 1 <Version> <Release> <Build> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 1 String 1 Version of SOPAS runtime (SOPAS DCD) Variable Data 1 Version USInt 1 Variable Data 2 Release USInt 1 Variable Data 3 Build UInt 2 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: sri i Read Variable Response: B sra 1[ Variable: LocationName The following section contains a detailed description of the variable LocationName. Variable Overview Variable Name LocationName Description Location of Device (set by user) Sopas Synchronisation Sopas Index Storage Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 2 (fixed) Variable is stored in EEProm Maintenance, AuthorizedClient, Service, SickService, Production, Developer FlexString Length Initialisation No location 12 SICK AG - Germany - All rights reserved OLS10

17 Variable Telegram Syntax Read Variable: sri 2 Command Type sri String 3 Read SOPAS Variable by Name Command 2 String 1 Location of Device (set by user) Read Variable Response: sra 2 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 2 String 1 Location of Device (set by user) Variable Data data FlexString 16 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: A sri j Read Variable Response: B 4E 6F 20 6C 6F F 6E 75 sra N o locationu Variable: SerialNumber The following section contains a detailed description of the variable SerialNumber. Variable Overview Variable Name SerialNumber Description serial number of device Sopas Synchronisation Sopas Index Storage Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 3 (fixed) Variable is stored in EEProm Production, Developer FlexString Length Initialisation AB OLS10 SICK AG - Germany - All rights reserved 13

18 Variable Telegram Syntax Read Variable: sri 3 Command Type sri String 3 Read SOPAS Variable by Name Command 3 String 1 serial number of device Read Variable Response: sra 3 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 3 String 1 serial number of device Variable Data data FlexString 12 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: B sri k Read Variable Response: C D sra ABm Variable: FirmwareVersion The following section contains a detailed description of the variable FirmwareVersion. Variable Overview Variable Name FirmwareVersion Description Version of the application software Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is not relevant for synchronisation with SOPAS ET. 4 (fixed) No! (readonly) FlexString Length Initialisation xxxxxx 14 SICK AG - Germany - All rights reserved OLS10

19 Variable Telegram Syntax Read Variable: sri 4 Command Type sri String 3 Read SOPAS Variable by Name Command 4 String 1 Version of the application software Read Variable Response: sra 4 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 4 String 1 Version of the application software Variable Data data FlexString 15 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: C sri l Read Variable Response: F 38 2E E E sra xxxxxxF Variable: SopasInfo The following section contains a detailed description of the variable SopasInfo. Variable Overview Variable Name SopasInfo Description Configuration and all supported SOPAS features by this device. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is not relevant for synchronisation with SOPAS ET. 6 (fixed) No! (readonly) OLS10 SICK AG - Germany - All rights reserved 15

20 DWord Bit Length 32 CIDUploadSupported 0.0 Bool Value Range Initialisation False, True False ShortUDDUploadSupported 0.1 Bool Value Range Initialisation False, True False PMDUploadSupported 0.2 Bool Value Range Initialisation False, True False LocationNameExists 0.3 Bool Value Range Initialisation False, True True SegmentSize Enum4 Value Name Description 0 SegSize4 1 SegSize8 2 SegSize16 3 SegSize64 4 SegSize256 5 SegSize SegSize SegSize16384 SupportsEventPolling 1.0 Bool Value Range Initialisation False, True True hasprocindex 1.1 Bool Value Range Initialisation False, True False CIDChecksumProvided 1.2 Bool Value Range Initialisation False, True True CheckPasswordProvided 1.3 Bool Value Range Initialisation False, True True 16 SICK AG - Germany - All rights reserved OLS10

21 DWord hubfunctionality Enum2 Default Value 0 Value Name Description 0 nosubdevices 1 subdeviceswithdetails 2 subdeviceswithmaxaddr 3 subdevicesextended JarUploadSupported 1.6 Bool Value Range Initialisation False, True False hasfirmwaredownloadalgorithm 1.7 Bool Value Range Initialisation False, True False SimultaneousMethodsSupport 2.0 Bool Value Range Initialisation False, True False HashValueSupport 2.1 Bool Value Range Initialisation False, True False HasAdditionalTimeout 2.2 Bool Value Range Initialisation False, True False BulkTransferSupported 2.3 Bool Value Range Initialisation False, True False issystemcapable 2.4 Bool Value Range Initialisation False, True False OLS10 SICK AG - Germany - All rights reserved 17

22 Variable Telegram Syntax Read Variable: sri 6 Command Type sri String 3 Read SOPAS Variable by Name Command 6 String 1 Configuration and all supported SOPAS features by this device. Read Variable Response: sra 6 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 6 String 1 Configuration and all supported SOPAS features by this device. Variable Data data DWord 4 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: E sri n Read Variable Response: D sra c Method: SetAccessMode The following section contains a detailed description of the method SetAccessMode. Method Overview Method Name SetAccessMode Description Change operation mode returns True, if successful Sopas Index Invocation Access 0 (fixed) Parameters NewMode SInt Value Range Password hash value UDInt Value Range SICK AG - Germany - All rights reserved OLS10

23 Return Values success Bool Value Range Initialisation False, True False Method Telegram Syntax Method Invocation: smn SetAccessMode <NewMode> <Password> Command Type smn String 3 Request (SOPAS Method by Name) Command SetAccessMode String 13 Change operation mode returns True, if successful Parameter 1 NewMode SInt 1 Parameter 2 Password UDInt 4 hash value Method Return Value: san SetAccessMode <success> Command Type san String 3 Result (SOPAS Method Result) Command SetAccessMode String 13 Change operation mode returns True, if successful Return Value 1 success Bool 1 Method Telegram Examples Example: Default Values Method telegram examples with parameter data and return value data set to default values. Method Invocation: Method Return Value: [STX]sMN SetAccessMode 0 0[ETX] [STX]sAN SetAccessMode 0[ETX] Method: NotifyMode The following section contains a detailed description of the method NotifyMode. Method Overview Method Name NotifyMode Description Decoupling login from sensor mode. This function will be called before and after something is written Sopas Index 6 Invocation Access OLS10 SICK AG - Germany - All rights reserved 19

24 Parameters NewMode Enum8 Value Name Description 0 ENDWRITE 1 BEGINWRITE Method Telegram Syntax Method Invocation: smn NotifyMode <NewMode> Command Type smn String 3 Request (SOPAS Method by Name) Command NotifyMode String 10 Decoupling login from sensor mode. This function will be called before and after something is written Parameter 1 NewMode Enum8 1 Method Return Value: san NotifyMode Command Type san String 3 Result (SOPAS Method Result) Command NotifyMode String 10 Decoupling login from sensor mode. This function will be called before and after something is written Method Telegram Examples Example: Default Values Method telegram examples with parameter data and return value data set to default values. Method Invocation: Method Return Value: [STX]sMN NotifyMode 0[ETX] [STX]sAN NotifyMode[ETX] Method: GetAccessMode The following section contains a detailed description of the method GetAccessMode. Method Overview Method Name GetAccessMode Description returns actual operation mode Sopas Index Invocation Access 1 (fixed) Return Values opmode SInt Value Range SICK AG - Germany - All rights reserved OLS10

25 Method Telegram Syntax Method Invocation: smn GetAccessMode Command Type smn String 3 Request (SOPAS Method by Name) Command GetAccessMode String 13 returns actual operation mode Method Return Value: san GetAccessMode <opmode> Command Type san String 3 Result (SOPAS Method Result) Command GetAccessMode String 13 returns actual operation mode Return Value 1 opmode SInt 1 Method Telegram Examples Example: Default Values Method telegram examples with parameter data and return value data set to default values. Method Invocation: Method Return Value: [STX]sMN GetAccessMode[ETX] [STX]sAN GetAccessMode 0[ETX] Method: Run The following section contains a detailed description of the method Run. Method Overview Method Name Run Description Change operation mode to "Run" Sopas Index Invocation Access 2 (fixed) Return Values success Bool Value Range Initialisation False, True False OLS10 SICK AG - Germany - All rights reserved 21

26 Method Telegram Syntax Method Invocation: smn Run Command Type smn String 3 Request (SOPAS Method by Name) Command Run String 3 Change operation mode to "Run" Method Return Value: san Run <success> Command Type san String 3 Result (SOPAS Method Result) Command Run String 3 Change operation mode to "Run" Return Value 1 success Bool 1 Method Telegram Examples Example: Default Values Method telegram examples with parameter data and return value data set to default values. Method Invocation: Method Return Value: [STX]sMN Run[ETX] [STX]sAN Run 0[ETX] Method: GetDescription The following section contains a detailed description of the method GetDescription. Method Overview Method Name GetDescription Sopas Index Invocation Access 4 (fixed) 22 SICK AG - Germany - All rights reserved OLS10

27 Parameters etype Enum8 Default Value CID Value Name Description 1 CID 2 ShortUDD 3 PMD 4 Jar 5 CidPMD 6 Eip2PMD 7 ChInfo 8 AVC 9 Profibus 10 Profibus2 11 CanOpen 12 EcatPMD 13 Profibus3 uisegmentnumber UInt Value Range Return Values estate Enum8 Value Name Description 0 TypeNotSupported 1 SegmentOutOfRange 2 FirstSegment 3 NormalSegment 4 LastSegment uisegmentnumber UInt Value Range abytestream Array Length 0..1 USInt Value Range OLS10 SICK AG - Germany - All rights reserved 23

28 Method Telegram Syntax Method Invocation: smn GetDescription <etype> <uisegmentnumber> Command Type smn String 3 Request (SOPAS Method by Name) Command GetDescription String 14 Parameter 1 etype Enum8 1 Parameter 2 uisegmentnumber UInt 2 Method Return Value: san GetDescription <estate> <uisegmentnumber> <abytestream> Command Type san String 3 Result (SOPAS Method Result) Command GetDescription String 14 Return Value 1 estate Enum8 1 Return Value 2 uisegmentnumber UInt 2 Return Value 3 abytestream Array 1 Method Telegram Examples Example: Default Values Method telegram examples with parameter data and return value data set to default values. Method Invocation: Method Return Value: [STX]sMN GetDescription 1 0[ETX] [STX]sAN GetDescription 0 0 0[ETX] 24 SICK AG - Germany - All rights reserved OLS10

29 2.4. Device configuration The following variables may be used to configure the settings of the device. The variables will be saved automatically and permanently after changing Variable: bsensorflipped The following section contains a detailed description of the variable bsensorflipped. Variable Overview Variable Name bsensorflipped Description Sensor mounted upside down. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 204 (fixed) Bool Value Range Initialisation False, True False Variable Telegram Syntax Read Variable: sri 204 Command Type sri String 3 Read SOPAS Variable by Name Command 204 String 3 Sensor mounted upside down. Read Variable Response: sra 204 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 204 String 3 Sensor mounted upside down. Variable Data data Bool 1 Write Variable: swi 204 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 204 String 3 Sensor mounted upside down. Variable Data data Bool 1 OLS10 SICK AG - Germany - All rights reserved 25

30 Write Variable Response: swa 204 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 204 String 3 Sensor mounted upside down. Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: CC A4 sri Read Variable Response: CC 00 AC sra Write Variable: CC 00 A1 swi Write Variable Response: CC A9 swa Variable: uiminpeakwidth The following section contains a detailed description of the variable uiminpeakwidth. Variable Overview Variable Name uiminpeakwidth Description Minimum width of the used tape, unit [mm]. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 74 (fixed) UInt Value Range Variable Telegram Syntax Read Variable: sri 74 Command Type sri String 3 Read SOPAS Variable by Name Command 74 String 2 Minimum width of a peak. Default 10 [mm]. Read Variable Response: sra 74 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 74 String 2 Minimum width of a peak. Default 10 [mm]. Variable Data data UInt 2 26 SICK AG - Germany - All rights reserved OLS10

31 Write Variable: swi 74 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 74 String 2 Minimum width of a peak. Default 10 [mm]. Variable Data data UInt 2 Write Variable Response: swa 74 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 74 String 2 Minimum width of a peak. Default 10 [mm]. Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: A 22 sri J" Read Variable Response: A A sra J * Write Variable: A swi J ' Write Variable Response: A 2F swa J/ Variable: uimaxpeakwidth The following section contains a detailed description of the variable uimaxpeakwidth. Variable Overview Variable Name uimaxpeakwidth Description Maximum width of the used tape, unit [mm]. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 75 (fixed) UInt Value Range OLS10 SICK AG - Germany - All rights reserved 27

32 Variable Telegram Syntax Read Variable: sri 75 Command Type sri String 3 Read SOPAS Variable by Name Command 75 String 2 Maximum width of a peak. Default 55 [mm]. Read Variable Response: sra 75 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 75 String 2 Maximum width of a peak. Default 55 [mm]. Variable Data data UInt 2 Write Variable: swi 75 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 75 String 2 Maximum width of a peak. Default 55 [mm]. Variable Data data UInt 2 Write Variable Response: swa 75 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 75 String 2 Maximum width of a peak. Default 55 [mm]. Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: B 23 sri K# Read Variable Response: B B sra K + Write Variable: B swi K & Write Variable Response: B 2E swa K. 28 SICK AG - Germany - All rights reserved OLS10

33 Variable: uidefaultpeakwidth The following section contains a detailed description of the variable uidefaultpeakwidth. Variable Overview Variable Name uidefaultpeakwidth Description Typical width of the used tape, unit [mm]. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 76 (fixed) UInt Value Range Variable Telegram Syntax Read Variable: sri 76 Command Type sri String 3 Read SOPAS Variable by Name Command 76 String 2 Default width of the used tape. Default 30 [mm]. Read Variable Response: sra 76 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 76 String 2 Default width of the used tape. Default 30 [mm]. Variable Data data UInt 2 Write Variable: swi 76 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 76 String 2 Default width of the used tape. Default 30 [mm]. Variable Data data UInt 2 Write Variable Response: swa 76 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 76 String 2 Default width of the used tape. Default 30 [mm]. OLS10 SICK AG - Germany - All rights reserved 29

34 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: C 24 sri L$ Read Variable Response: C C sra L, Write Variable: C swi L! Write Variable Response: C 29 swa L) Variable: uimaxnumberofmissingtrackreadings The following section contains a detailed description of the variable uimaxnumberofmissingtrackreadings. Variable Overview Variable Name uimaxnumberofmissingtrackreadings Description Max. number of missing track readings Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 27 (fixed) UInt Value Range Variable Telegram Syntax Read Variable: sri 27 Command Type sri String 3 Read SOPAS Variable by Name Command 27 String 2 Max. number of missing track readings Read Variable Response: sra 27 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 27 String 2 Max. number of missing track readings Variable Data data UInt 2 Write Variable: swi 27 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 27 String 2 Max. number of missing track readings 30 SICK AG - Germany - All rights reserved OLS10

35 Write Variable: swi 27 <data> Variable Data data UInt 2 Write Variable Response: swa 27 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 27 String 2 Max. number of missing track readings Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: B 73 sri s Read Variable Response: B B sra { Write Variable: B swi v Write Variable Response: B 7E swa ~ OLS10 SICK AG - Germany - All rights reserved 31

36 Ethernet When busedhcp is set to value false the sensor will use the values from variables udiipaddress, udisubnetmask and udigatewayadress as static TCP/IP connection settings. By setting busedhcp to value true, the sensor will instead try get TCP/IP setting from a DHCP server. If this is not successful after 10 seconds timeout the sensor will assign itself TCP/IP setting using the APIPA Auto-IP method. Note: 1. After changing TCP/IP settings call the method accessconfigmemory to permanently store the settings. 2. Changes of the TCP/IP settings will take effect after power-cycle of the sensor or immediately by calling method applyethernetconfiguration Variable: busedhcp The following section contains a detailed description of the variable busedhcp. Variable Overview Variable Name busedhcp Description Enable or disable TCP/IP setting retrieval via DHCP. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 51 (fixed) Bool Value Range Initialisation False, True True Variable Telegram Syntax Read Variable: sri 51 Command Type sri String 3 Read SOPAS Variable by Name Command 51 String 2 Read Variable Response: sra 51 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 51 String 2 Variable Data data Bool 1 32 SICK AG - Germany - All rights reserved OLS10

37 Write Variable: swi 51 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 51 String 2 Variable Data data Bool 1 Write Variable Response: swa 51 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 51 String 2 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: B sri 3[ Read Variable Response: sra 3 R Write Variable: F swi 3 _ Write Variable Response: swa 3V Variable: udiipaddress The following section contains a detailed description of the variable udiipaddress. Variable Overview Variable Name udiipaddress Description IP address Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 12 (fixed) Array Length 4 Default Value {192,168,100,100} USInt Value Range OLS10 SICK AG - Germany - All rights reserved 33

38 Variable Telegram Syntax Read Variable: sri 12 Command Type sri String 3 Read SOPAS Variable by Name Command 12 String 2 IP address Read Variable Response: sra 12 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 12 String 2 IP address Variable Data data Array 4 Write Variable: swi 12 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 12 String 2 IP address Variable Data data Array 4 Write Variable Response: swa 12 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 12 String 2 IP address Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: C 64 sri d Read Variable Response: C C0 A Write Variable: C C0 A sra d d swi d d Write Variable Response: C 69 swa i 34 SICK AG - Germany - All rights reserved OLS10

39 Variable: udisubnetmask The following section contains a detailed description of the variable udisubnetmask. Variable Overview Variable Name udisubnetmask Description Subnet mask Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 15 (fixed) Array Length 4 Default Value {255,255,255,0} USInt Value Range Variable Telegram Syntax Read Variable: sri 15 Command Type sri String 3 Read SOPAS Variable by Name Command 15 String 2 Subnet mask Read Variable Response: sra 15 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 15 String 2 Subnet mask Variable Data data Array 4 Write Variable: swi 15 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 15 String 2 Subnet mask Variable Data data Array 4 Write Variable Response: swa 15 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 15 String 2 Subnet mask OLS10 SICK AG - Germany - All rights reserved 35

40 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: F 67 sri g Read Variable Response: F FF FF FF Write Variable: F FF FF FF 00 9D sra swi Write Variable Response: F 6A swa j Variable: udigatewayaddress The following section contains a detailed description of the variable udigatewayaddress. Variable Overview Variable Name udigatewayaddress Description Gateway adress Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 28 (fixed) Array Length 4 Default Value {0,0,0,0} USInt Value Range Variable Telegram Syntax Read Variable: sri 28 Command Type sri String 3 Read SOPAS Variable by Name Command 28 String 2 Gateway adress Read Variable Response: sra 28 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 28 String 2 Gateway adress Variable Data data Array 4 36 SICK AG - Germany - All rights reserved OLS10

41 Write Variable: swi 28 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 28 String 2 Gateway adress Variable Data data Array 4 Write Variable Response: swa 28 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 28 String 2 Gateway adress Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: C 74 sri t Read Variable Response: C C Write Variable: C sra swi q Write Variable Response: C 79 swa y Method: applyethernetconfiguration The following section contains a detailed description of the method applyethernetconfiguration. Method Overview Method Name applyethernetconfiguration Description Saves and applies ethernet settings immediately. Sopas Index Invocation Access 32 (fixed) OLS10 SICK AG - Germany - All rights reserved 37

42 Method Telegram Syntax Method Invocation: smi 32 Command Type smi String 3 Request (SOPAS Method by Name) Command 32 String 2 Saves and applies ethernet settings immediately. Method Return Value: sai 32 Command Type sai String 3 Result (SOPAS Method Result) Command 32 String 2 Saves and applies ethernet settings immediately. Method Telegram Examples Example: Default Values Method telegram examples with parameter data and return value data set to default values. Method Invocation: D smi W Method Return Value: B sai [ 38 SICK AG - Germany - All rights reserved OLS10

43 CANopen settings Variable: usinodeid The following section contains a detailed description of the variable usinodeid. Variable Overview Variable Name Description usinodeid CANopen node id, default: 8. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 46 (fixed) UDInt Value Range Variable Telegram Syntax Read Variable: sri 46 Command Type sri String 3 Read SOPAS Variable by Name Command 46 String 2 Read Variable Response: sra 46 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 46 String 2 Variable Data data UDInt 4 Write Variable: swi 46 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 46 String 2 Variable Data data UDInt 4 Write Variable Response: swa 46 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 46 String 2 OLS10 SICK AG - Germany - All rights reserved 39

44 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: E 46 sri.f Read Variable Response: E E Write Variable: E sra. N swi. C Write Variable Response: E 4B swa.k Variable: ecanopenlssbitrate The following section contains a detailed description of the variable ecanopenlssbitrate. Variable Overview Variable Name ecanopenlssbitrate Description CANopen bitrate, default: 125kbit. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 48 (fixed) Enum16 Value Name Description 0 1M 1000 KBit/s 1 800K 800 KBit/s 2 500K 500 KBit/s 3 250K 250 KBit/s 4 125K 125 KBit/s 6 50K 50 KBit/s 7 20K 20 KBit/s 8 10K 10 KBit/s 40 SICK AG - Germany - All rights reserved OLS10

45 Variable Telegram Syntax Read Variable: sri 48 Command Type sri String 3 Read SOPAS Variable by Name Command 48 String 2 CANopen LSS Bitrate Read Variable Response: sra 48 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 48 String 2 CANopen LSS Bitrate Variable Data data Enum16 2 Write Variable: swi 48 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 48 String 2 CANopen LSS Bitrate Variable Data data Enum16 2 Write Variable Response: swa 48 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 48 String 2 CANopen LSS Bitrate Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: sri 0X Read Variable Response: sra 0 P Write Variable: D swi 0 ] Write Variable Response: swa 0U OLS10 SICK AG - Germany - All rights reserved 41

46 Variable: uitpdo_eventtime This variable defines the result data update for the CANopen PDO. When TCP/IP-communication via CoLa-B is used, it also defines the transmission rate of the OLSResultEvent. Variable Overview Variable Name Description uitpdo_eventtime PDO update rate, unit [ms]. Default: 20 ms. Sopas Synchronisation Sopas Index Read-Access Write-Access Variable is relevant for synchronisation with SOPAS ET. 45 (fixed) UInt Value Range Variable Telegram Syntax Read Variable: sri 45 Command Type sri String 3 Read SOPAS Variable by Name Command 45 String 2 Read Variable Response: sra 45 <data> Command Type sra String 3 SOPAS Variable Read Acknowledge Command 45 String 2 Variable Data data UInt 2 Write Variable: swi 45 <data> Command Type swi String 3 Write SOPAS Variable by Name Command 45 String 2 Variable Data data UInt 2 Write Variable Response: swa 45 Command Type swa String 3 SOPAS Variable Write Acknowledge Command 45 String 2 42 SICK AG - Germany - All rights reserved OLS10

47 Variable Telegram Examples Example: Default Values Variable rest examples with data set to default values. Read Variable: D 45 sri -E Read Variable Response: D D sra - M Write Variable: D swi Write Variable Response: D 48 swa -H OLS10 SICK AG - Germany - All rights reserved 43