TECHNICAL INFORMATION

microScan3, outdoorScan3, nanoScan3

Safety laser scanner

Data output via UDP and TCP/IP

 Described product
microScan3, outdoorScan3, nanoScan3

Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany

Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is
only permissible within the limits of the legal determination of Copyright Law. Any modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.

Original document
This document is an original document of SICK AG.

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 CONTENTS

Contents
1 About this document........................................................................ 5
1.1 Purpose of this document........................................................................ 5
1.2 Scope......................................................................................................... 5
1.3 Target groups............................................................................................ 5
1.4 Symbols and document conventions...................................................... 5

2 Safety information............................................................................ 7
2.1 General safety notes................................................................................ 7

3 Product description........................................................................... 8
3.1 Structure and function............................................................................. 8

4 Data output........................................................................................ 10
4.1 Overview.................................................................................................... 10
4.2 Activating and configuring data output................................................... 10
4.2.1 Configuring with the Safety Designer..................................... 11
4.2.2 Configure data output via CoLa2............................................ 12
4.2.3 Continuous data output for multiple receivers...................... 12
4.3 Contents of the data output..................................................................... 13
4.4 Interpretation of the data transmitted via UDP...................................... 15
4.5 Configured and actually used angular range.......................................... 17

5 CoLa2 interface of the safety laser scanner................................. 19

6 Technical data.................................................................................... 20
6.1 Data sheet................................................................................................. 20

7 Annex.................................................................................................. 22
7.1 Appendix A: Structure of data output...................................................... 22
7.2 Appendix B: Communication via CoLa2.................................................. 37
7.2.1 Overview................................................................................... 37
7.2.2 Overview of the telegram format............................................ 37
7.2.3 Sessions................................................................................... 39
7.2.4 Using the sensors.................................................................... 41
7.2.5 CoLa2 data types..................................................................... 43
7.3 Appendix C: CoLa2 variables and methods of the safety laser scan‐
ner.............................................................................................................. 44
7.3.1 Variables................................................................................... 45
7.3.2 Methods................................................................................... 64
7.4 Appendix D: Examples of communication via CoLa2............................. 67
7.4.1 Example 1: Activating continuous data output via UDP........ 67
7.4.2 Example 2: Activating data output on request....................... 69

8 List of figures..................................................................................... 70

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CONTENTS

9 List of tables....................................................................................... 71

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 ABOUT THIS DOCUMENT 1

1 About this document

1.1 Purpose of this document
This document describes the extended usage possibilities of the microScan3, outdoor‐
Scan3 and nanoScan3 safety laser scanner:
• Output of measurement data and other data via the Ethernet interface
• Access to variables and methods via CoLa2.

1.2 Scope
This document applies to all microScan3, outdoorScan3 and nanoScan3 safety laser
scanners.
This document is included with the following SICK part numbers (this document in all
available language versions):
• 8022706

1.3 Target groups

This document is written for system specialists working in the field of hardware and
software development intending to integrate the measurement data or other data and
functions of the safety laser scanner in their application.

1.4 Symbols and document conventions

The following symbols and conventions are used in this document:

Safety notes and other notes

DANGER
Indicates a situation presenting imminent danger, which will lead to death or serious
injuries if not prevented.

WARNING
Indicates a situation presenting possible danger, which may lead to death or serious
injuries if not prevented.

CAUTION
Indicates a situation presenting possible danger, which may lead to moderate or minor
injuries if not prevented.

NOTICE
Indicates a situation presenting possible danger, which may lead to property damage if
not prevented.

NOTE
Indicates useful tips and recommendations.

Instructions to action
b The arrow denotes instructions to action.

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1 ABOUT THIS DOCUMENT

1. The sequence of instructions for action is numbered.

2. Follow the order in which the numbered instructions are given.
✓ The check mark denotes the result of an instruction.

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 SAFETY INFORMATION 2

2 Safety information
2.1 General safety notes

DANGER
Danger of using data output for safety function
Data output may only be used for general monitoring and control tasks.
b Do not use data output for safety-related applications.

DANGER
Danger of using CoLa2 for safety function
CoLa2 may only be used for general monitoring and control tasks.
b Do not use CoLa2 for safety-related applications.

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3 PRODUCT DESCRIPTION

3 Product description
3.1 Structure and function
The safety laser scanner is an electro-sensitive protective device (ESPE) which scans its
surroundings two-dimensionally using infrared laser beams.
The safety laser scanner operates on the principle of time-of-flight measurement. It
emits light pulses in regular, very short intervals. If the light strikes an object, it is
reflected. The safety laser scanner receives the reflected light. The safety laser scanner
calculates the distance to the object based on the time interval between the moment of
transmission and moment of receipt (∆t).
A rotating mirror is situated in the safety laser scanner. The mirror deflects the light
pulses so that they scan a fan-shaped area.

227,5°

-47,5°

0°

90°

Figure 1: Light pulses scan an area

1 Angular resolution: the angular distance (in degrees) between 2 distance measurements

Geometry of the scan plane

The laser beams emitted cover a sector of a circle, so an object can be detected in an
area of up to 275°.
The sector of a circle covered ranges from –47.5° to 227.5°, where 90° denotes the
axis of the safety laser scanner from the back to the front. When viewing the safety
laser scanner from above, the direction of rotation of the mirror and the deflected light
pulses is counterclockwise, see figure 1, page 8.

Scan cycle time and angular resolution

The time that the mirror requires for one rotation is called the scan cycle time. The
number of light pulses per unit of time is constant. The scan cycle time and the number
of light pulses per unit of time determine the angular resolution.
Slightly different scan cycle times can be used to minimize mutual interference in
neighboring safety laser scanners.

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 PRODUCT DESCRIPTION 3

Measurement Data
Measurement data is, for example, the distance data for each individual light pulse.
The measurement data can be output via the Ethernet interface. In addition to the
measurement data, other data can also be output, e.g. on object detections and the
device status.

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4 DATA OUTPUT

4 Data output
4.1 Overview

DANGER
Danger of using data output for safety function
Data output may only be used for general monitoring and control tasks.
b Do not use data output for safety-related applications.

Data output allows for the output of measurement data and other data via the Ethernet
interface. Other network participants, the receivers, can call up and use the data.
The data output works in different send modes:
• On request: Data is output when there is an explicit request from a host computer
via TCP/IP using CoLa2
• Continuous and on request: Data is output continuously via UDP to a defined target
address and also when there is an explicit request from a host computer via
TCP/IP using CoLa2. 1)
The device provides the data via channels. Each channel consists of a configured data
output and the receiver defined for it. The number of available data output channels
depends on the device variant, see "Data sheet", page 20.
You define the angle range that is output for the measurement data in the configuration
of the measurement data output. The device always measures in the entire scanning
angle, but you can limit the output of the measurement data to a smaller sector.
You can define which data the device should output in each channel in the configu‐
ration of the measurement data output. The actually available data depends on the
operational status of the device, among other things. Therefore not all configured data
is output, rather only the data which is currently available.
After each rotation of the mirror, the device creates an instance of the measurement
data. For continuous data output, you can also additionally define whether each
instance should be sent or only every nth instance.

4.2 Activating and configuring data output

You can activate and configure the data output in two ways:
• With the Safety Designer
• Via the CoLa2 protocol

1) For devices with a max. protective field range of 9.0 m, the transmitted data quantity can be very large (> 230 kByte/s) if all measured
values are transmitted. For stable data output, you can adapt the transmission frequency (e.g. every second measurement) or decrease
the angular range.

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 DATA OUTPUT 4

4.2.1 Configuring with the Safety Designer

Overview

Figure 2: Data output

1 Data output channel
2 Send mode
3 Data content
4 Angular range

Using Safety Designer, you can configure the safety laser scanner and the data output.
A configuration that is created with the Safety Designer is saved in the device and is
also active after restarting the device.

Data output channel

Every available data output channel has independent settings.

Send mode
• Deactivated: Data output is deactivated
• On request: Data is output when there is an explicit request from a host computer
via TCP/IP using CoLa2
• Continuous and on request: Data is output continuously via UDP to a defined target
address and also when there is an explicit request from a host computer via
TCP/IP using CoLa2. 2)
2) For devices with a max. protective field range of 9.0 m, the transmitted data quantity can be very large (> 230 kByte/s) if all measured
values are transmitted. For stable data output, you can adapt the transmission frequency (e.g. every second measurement) or decrease
the angular range.

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4 DATA OUTPUT

Data content
• Device status: Information on the status of the safety laser scanner (e.g., cut-off
paths, errors)
• Configuration of data output: Information on the angular range actually being used
(for technical reasons, data from a slightly larger angular range than the one set
may be output in some cases)
• Measurement data: Distance data with reflector detection and RSSI
• Field interruption: Data on the light beams in interrupted fields of the active monitor‐
ing case
• Application data: Status of inputs and outputs that are used in the monitoring case
table

Angular range
You can define the range within which measurement data and data relating to field
interruptions is output.

4.2.2 Configure data output via CoLa2

CoLa2 is a protocol from SICK, with which a client (control, PC etc.) can access suitable
SICK sensors via TCP/IP.
With the CoLa2 method NavData_ChangeCommSettings, you can activate and config‐
ure the data output.

NOTE
The configuration via the NavData_ChangeCommSettings method is not persistent
and is lost when the device is switched off, restarted or reconfigured. In these cases,
the configuration created with the Safety Designer is active.

CoLa2 variables for data output:

• "Saved configuration of the data output channel", page 59
• "Active configuration of the data output channel", page 61
• "Most recent measurement data", page 63
CoLa2 methods for data output:
• "Configuring the data output", page 65
Further topics
• "CoLa2 interface of the safety laser scanner", page 19
• "Appendix B: Communication via CoLa2", page 37
• "Appendix D: Examples of communication via CoLa2", page 67

4.2.3 Continuous data output for multiple receivers

Overview
The device sends the data to a defined destination address via each data output chan‐
nel. Devices with several data output channels can send directly to as many destination
addresses as there are data output channels.
When suitably configured, every data output channel can send data to multiple receiv‐
ers using IP multicast or broadcast. This enables devices that only have one data
output channel to send data to multiple receivers.

Multicast
When multicasting, UDP packets are sent to a group of receivers.

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 DATA OUTPUT 4

A suitable IP address must be configured in the data output channel. IP multi‐

cast addresses in the ranges 239.0.0.0 to 239.192.0.255 and 239.192.129.0 to
239.255.255.255 will be suitable in many cases. 3)
Intermediate network components and receivers must be configured to be able to
forward and receive the data.

Limited broadcast
In the case of a limited broadcast, the data are sent to all addresses in the local
network.
The IP address 255.255.255.255 must be configured in the data output channel. This
destination is converted directly into an Ethernet broadcast.

Directed broadcast
In the case of a directed broadcast, the data are sent to all addresses in a specific
network.
The broadcast address of the destination network must be configured in the data
output channel. The broadcast address is the address of the destination network where
all host bits are set to 1. For example, a directed broadcast in the network 192.168.0.0
with the network mask 255.255.255.0 has the address 192.168.0.255.

4.3 Contents of the data output

Overview
The structure of the output data begins with a header. Optional blocks follow the
header. You can configure the scope of the output data by defining which blocks are
output.
The following data blocks are available:
• Device status
• Configuration of the data output
• Measurement data
• Field interruption
• Application data
• Local inputs and outputs
Header
Data output always contains a header with the following data:
• Serial numbers: Serial number of the device without system plug, serial number of
the system plug
• Number of the data output channel to which the output data belong
• The sequence number applies for the current data output channel. It is increased
by 1 with each data set sent.
• Scan number. The number of the scan to which the data set belongs. When
changing the device status, it may be that scan numbers are left out (e.g. when
waking up from standby mode). In standby mode (when the mirror is no longer
rotating) the scan number is not incremented.
• A time stamp for the time at which the data set was created. The measurements
are carried out regularly according to the scan cycle time set. There can be a jitter
in the time stamp since it is not synchronized with the beginning of the scan.
• Offsets that display further, optional data blocks that are only contained if they
are configured and available. If a data block is not contained (not configured or
currently no data available) then size = 0 and offset = 0.

3) IP multicast addresses in the range 239.192.1.0 to 239.192.128.255 are reserved for EtherNet/IP communication.

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4 DATA OUTPUT

Device status
Information on the device status is output in this data block e.g. error status, status of
the cut-off path, monitoring case number.

Configuration of the data output

In this data block e.g. the number of output beams, the configured scan cycle time and
the angular range actually used. The actually used angular range can deviate slightly
from the configured angular range, see "Configured and actually used angular range",
page 17.

Measurement data
In this data block, distance, RSSI and status are output for each beam. The number of
beams depends on the angular beam configured and on the scan cycle time.

Field interruption
This data block contains information on field interruptions in each configured cut-off
path. If an object is detected and the cut-off path therefore switches to the OFF state,
the beams that are interrupted by the object are marked.
The data in this block is organized in an array. Each element of the array stands for a
cut-off path. The position of the cut-off path in the array is the same as its position in
the network process image (assembly) and is configured in the Safety Designer.

Figure 3: Cut-off paths in Safety Designer

1 Position of the cut-off paths in the process image

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 DATA OUTPUT 4

Only data for the beams that are within the configured angular range for the measure‐
ment data output is output.

Application data
The status of the inputs and outputs must also be used in the configuration of the laser
safety scanner. The available inputs and outputs depend on the safety laser scanner
variant.

Local inputs and outputs

Status of the local inputs and outputs (local static inputs, universal inputs, universal
I/Os, universal outputs, OSSDs). The available inputs and outputs depend on the safety
laser scanner variant.

Further topics
• "Appendix A: Structure of data output", page 22

4.4 Interpretation of the data transmitted via UDP

This chapter describes the interpretation of the UDP datagram if continuous data
output has been configured. The data receiver is clearly identified through their IPv4
address and the port number.

NOTE
Several devices (or several channels of a device) cannot send your data to the same
port of the same target system. If a system should receive data from several devices or
channels, then you must use a clear port for each device and each channel.

Depending on the configuration (scope of the data), an instance of the data output is
too big for a UDP datagram. The instance is then split up into fragments and sent in
several sequential UDP datagrams.

Measurement Data Output

Measurement
Data Output
Payload #1 Payload #2 ....... Payload #N

length

Measurement payload payload payload

header header header
Data
length

length

length
offset

offset

offset

Fragments .......

UDP header payload

Datagram
chksum

Figure 4: UDP datagram and measurement data

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4 DATA OUTPUT

The following figure shows a datagram that a device (IP address: 192.168.0.170)
sends to a receiver (IP address: 192.168.0.50). In this example, every instance of the
data output is divided into 3 fragments.

}1
}2

Figure 5: Example datagrams

1 Data output, instance 1
2 Data output, instance 2

The data integrity of each individual UDP datagram is ensured with the UDP checksum.
The UDP neither ensures the arrival of individual datagrams, nor the sequence, nor
protection from duplicates. Therefore each UDP datagram is complemented with an
additional 24-byte header for data output see table 1, page 16. Using the information
in this header, the receiver can recognize duplicates and the loss of datagrams, redo
the sequence and re-combine the (possibly fragmented) instances of the data output.
As UDP does not offer the opportunity to re-request lost datagrams, receivers must be
able to deal with data loss.
Table 1: Data output datagram headers
Byte 0 1) Byte 1 Byte 2 Byte 3
Datagram marker
Protocol Version (maj) Version (min)
Total length
Identification
Fragment offset
Reserved
1) The bit sequence is from left to right and from top to bottom.

• Datagram marker (ASCII): "MS3<space>"

• Protocol (ASCII): "MD"
• Version Maj.Min (USInt/USInt): "1.0"
• Total length (UDInt, Little Endian): Total length of the (possibly fragmented)
instance of the data output (without header)

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 DATA OUTPUT 4

• Identification (UDInt, Little Endian): Datagrams (fragments), which belong to the

same instance of the data output, have the same value. The value is increased for
every instance of data output in one channel.
• Fragment offset (UDInt, Little Endian): Offset (in bytes) of the measurement data
in datagram (fragment) compared to the start of the instance of the data output.
Due to the additional header, the actual fragment of the data output begins at offset
24 in the data field of the UDP datagram. In the following example of a complete UDP
datagram, the L2 Ethernet frame, the IPv4 and the UDP headers are marked in red. The
additional, 24 byte-long header is marked in blue. The following data marked in green is
the actual measurement data or a fragment of it.
Table 2: Example: UDP datagram
0000 00 e1 11 00 30 20 00 06 77 ff 08 ae 08 00 45 00 ....0 ..w.....E.
0010 05 d0 69 37 00 00 40 11 89 b9 c0 a8 00 aa c0 a8 ..i7..@.........
0020 00 32 c3 50 c3 50 05 bc e5 cb 4d 53 33 20 4d 44 .2.P.P....MS3 MD
0030 01 00 b8 0c 00 00 4b 01 00 00 00 00 00 00 00 00 ......K.........
0040 00 00 52 02 00 00 6d b5 0a 01 8c 8f 0a 01 00 00 ..R...m.........
0050 00 00 4b 01 00 00 b4 5b 00 00 00 00 00 00 24 99 ..K....[......$.
0060 0a 00 4c 00 10 00 60 00 18 00 7c 00 68 08 e8 08 ..L...`...|.h...
0070 80 02 6c 0b 08 01 78 0c 40 00 00 00 00 00 00 00 ..l...x.@.......
0080 00 00 00 00 00 00 00 00 00 00 01 00 00 00 01 55 ...............U

4.5 Configured and actually used angular range

When configuring the data output, you enter a start angle and an end angle. The
actually used angles can deviate slightly from the configured angles.
The actually used angular range always contains the entire configured angular range.

HD

Figure 6: Laser beams

Every laser beam of the safety laser scanner is emitted in a defined angle. Measure‐
ment data is only available for the angles in which a laser beam is emitted.
Field interruptions are not evaluated for each individual laser beam, rather for every 8th
beam.
Therefore the start angle and the end angle are rounded down (start angle) or rounded
up (end angle) to the next laser beam that has a number that is a multiple of 8.

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4 DATA OUTPUT

Derived Beam 8
Start Angle

9
Beam
ngle
ta rt A
re dS
figu
Con

10
a m
Be

Figure 7: Rounding to the 8th laser beam

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 COLA2 INTERFACE OF THE SAFETY LASER SCANNER 5

5 CoLa2 interface of the safety laser scanner

Overview
CoLa2 (Command Language 2) is a protocol from SICK, with which a client (control, PC
etc.) can access suitable SICK sensors via a network (TCP/IP).
The CoLa2 interface of the device allows you to request information from the device
(to read sensor variables) or to carry out routines on the device (to call up sensor
methods).

Figure 8: Cola2 protocol stack

Important information

DANGER
Danger of using CoLa2 for safety function
CoLa2 may only be used for general monitoring and control tasks.
b Do not use CoLa2 for safety-related applications.

Device-specific deviations
• Byte sequence: The safety laser scanner uses the Little Endian format for the data
according to the bytes Cmd and Mode (see "Layer 7.2, command layer", page 38)
• The TCP/IP for the CoLa2 communication of the safety laser scanner is port 2122
• A CoLa2 telegram can be split into fragments. The client must re-combine the
fragments
• Variables and methods of the safety laser scanner can only be called up via index
(and not via their names)
• The safety laser scanner does not support any events

Further topics
• "Appendix B: Communication via CoLa2", page 37
• "Appendix C: CoLa2 variables and methods of the safety laser scanner", page 44

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6 TECHNICAL DATA

6 Technical data
6.1 Data sheet
Table 3: microScan3, outdoorScan3 data sheet
Devices with a max. protective Devices with a max. protective
field range of 4.0 m field range of 9.0 m
Devices with a max. protective
field range of 5.5 m
Data output channels 1
Scanning angle 275° (–47.5° to 227.5°)
Distance measurement range 1)

For remission = 10% ≤ 12 m ≤ 22 m

For remission = 100% ≤ 40 m ≤ 64 m
Scanning frequency
Scan cycle time 30 ms 33 Hz –
Scan cycle time 40 ms 25 Hz 25 Hz
50 ms scan cycle time – 20 Hz
Angular resolution (physical) 2)

Scan cycle time 30 ms < 0.01° –

Scan cycle time 40 ms < 0.01° < 0.01°
50 ms scan cycle time – < 0.01°
Angular resolution (safeHDDM®) 2)

Scan cycle time 30 ms 0.51° (537 safeHDDM® –

measured value)
Scan cycle time 40 ms 0.39° (715 safeHDDM® 0.125° (2,201 safeHDDM®
measured value) measured values)
50 ms scan cycle time – 0.1° (2,751 safeHDDM®
measured values)
Light spot size (W x H)
At 5.0 m distance 2.4 mm × 14 mm 4.8 mm × 16 mm
At 10.0 m distance 13 mm × 27 mm 1.6 mm × 30 mm
At 20.0 m distance 45 mm × 55 mm 10 mm × 60 mm
At 30.0 m distance 66 mm × 78 mm 20 mm × 91 mm
At 40.0 m distance 102 mm × 110 mm 30 mm × 121 mm
At 50.0 m distance – 38 mm × 151 mm
At 60.0 m distance – 47 mm × 181 mm
Measurement uncertainty 3)

Systematic errors ± 10 mm
Total measurement error (statistical and systematic)
At 1 σ ± 13 mm ± 18 mm
At 2 σ ± 16 mm ± 26 mm
At 3 σ ± 19 mm ± 34 mm
At 4 σ ± 22 mm ± 42 mm
At 5 σ ± 25 mm ± 50 mm
1) Warm-up time ≥ 30 min. Light spot fully on the target object.
2) safeHDDM® filters the physical measured values and provides very precise and reproducible measured
values. Only safeHDDM® measured values are available via data output.

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 TECHNICAL DATA 6

3) Typical values at 20 °C and remission - 1.8%, distance = protective field range.

Table 4: nanoScan3 data sheet

nanoScan3
Data output channels 2
Scanning angle 275° (–47.5° to 227.5°)
Distance measurement range 1)

For remission = 10% ≤ 8.7 m

For remission = 100% ≤ 27.4 m
Scanning frequency 33 Hz
Angular resolution (physical) 2)
< 0.01°
Angular resolution 0.17° (1,651 safeHDDM® measured values)
(safeHDDM®) 2)
Light spot size (W x H)
At 5.0 m distance 6 mm × 25 mm
At 10.0 m distance 20 mm × 50 mm
At 20.0 m distance 40 mm × 100 mm
At 30.0 m distance 60 mm × 150 mm
At 40.0 m distance 80 mm × 200 mm
Measurement uncertainty 3)
Systematic error ± 10 mm
Total measurement error (statistical and systematic)
At 1 σ ± 13 mm
At 2 σ ± 16 mm
At 3 σ ± 19 mm
At 4 σ ± 22 mm
At 5 σ ± 25 mm
1) Warm-up time ≥ 30 min. Light spot fully on the target object.
2) safeHDDM® filters the physical measured values and provides very precise and reproducible measured
values. Only safeHDDM® measured values are available via data output.
3) Typical values at 20 °C and remission - 1.8%, distance = protective field range.

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7 ANNEX

7 Annex
7.1 Appendix A: Structure of data output
The data is coded in Little Endian format within the structure of the data output. Data
types: see "CoLa2 data types", page 43.
There are non-specified ranges between the data blocks. These ranges are noted in the
following table with "~ ~ ~" and must be ignored by the client.
The blocks must be addressed via the offset that is given in the header. The blocks may
not be addressed via a fixed offset because the size of a block and therefore the offset
to the duration can change.
In future versions of the protocol, it is possible that more data can be attached to
the header or to the blocks. Access to the data remains compatible when done as
described here.

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Table 5: Data output: Header

Structure Data type Length in bytes Offset in bytes Description
Version Version USINT 1 0 0: The rest of this structural element is invalid. Other values: valid.
Major version USINT 1 1 Main version number. Different numbers stand for incompatible
versions.
Minor version USINT 1 2 Sub version number. Versions with different sub version numbers
are compatible if the main versions numbers are the same.
Release USINT 1 3 Release number.
Device serial number UDINT 4 4
Serial number of the system UDINT 4 8
plug
Channel number USINT 1 12 Number of the data output channel.
Reserved 3 13
Sequence number UDINT 4 16 The sequence number applies for the current data output channel.
It is increased by 1 with each data set sent.
Scan number UDINT 4 20 The number of the scan to which the data set belongs.
Time stamp Date UINT 2 24 Time at which the data set was created.
Reserved 2 26 The measurements are carried out regularly according to the scan
cycle time set. There can be a jitter in the time stamp since it is
Time UDINT 4 28 not synchronized with the beginning of the scan.
Date:
• If time synchronization is active and a UTC server acts as the
time master: days since January 1, 1972
• time synchronization is active and a device in the Safety
If
Designer project acts as the time master: number of full 24-
hour cycles of the time master
• If time synchronization is not active: number of full 24-hour
cycles since the device was switched on
Time:
• If time synchronization is active and a UTC server acts as the
time master: milliseconds since midnight
• If time synchronization is active and a device in the Safety
Designer project acts as the time master: milliseconds since
the start of the current 24-hour cycle of the time master
• If time synchronization is not active: milliseconds since the
start of the current 24-hour cycle since switching on the device

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Structure Data type Length in bytes Offset in bytes Description

Block Device status Offset UINT 2 32 If the data block concerned is contained, then "Offset" displays the
beginning of the block in the structure (based on byte 0 of the
Size UINT 2 34
structure). "Size" is the size of the corresponding data block. If a
Block Configuration of the Offset UINT 2 36 data block is not contained (not configured or currently no data
data output available) then size = 0 and offset = 0.
Size UINT 2 38
The blocks must be addressed via the offset that is given in
Block Measurement data Offset UINT 2 40 the header. The blocks may not be addressed via a fixed offset
Size UINT 2 42 because the size of a block and therefore the offset to the duration
can change.
Block Field interruption Offset UINT 2 44
Size UINT 2 46
Block Application data Offset UINT 2 48
Size UINT 2 50
Block Local inputs and out‐ Offset UINT 2 52
puts
Size UINT 2 54
~~~

Table 6: Data output: Block Device status

Structure Data type Length in bytes Offset in bytes Description
~~~
Device status see table 7, 16 Offset (Block • Status of safety function
page 25 Device status) • Status sleep mode
• Contamination warning
• Contamination error
• Reference contour monitoring
• Manipulation
• Cut-off path (safety-oriented)
• Cut-off path (Not safety-related)
• Current monitoring case
• Reset required
• Application error
• Device error

~~~

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Table 7: Content of the block Device status

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Reserved Manipulation Reference contour Contamination error Contamination warn‐ Status sleep mode Status of safety func‐
monitoring ing tion
1 1) Cut-off path 08 Cut-off path 07 Cut-off path 06 Cut-off path 05 Cut-off path 04 Cut-off path 03 Cut-off path 02 Cut-off path 01
(safety-oriented) (safety-oriented) (safety-oriented) (safety-oriented) (safety-oriented) (safety-oriented) (safety-oriented) (safety-oriented)
2 Reserved
3 Reserved
4 1)
Cut-off path 08 (Not Cut-off path 07 (Not Cut-off path 06 (Not Cut-off path 05 (Not Cut-off path 04 (Not Cut-off path 03 (Not Cut-off path 02 (Not Cut-off path 01 (Not
safety-related) safety-related) safety-related) safety-related) safety-related) safety-related) safety-related) safety-related)
5 Reserved
6 Reserved
7 1)
Reset required, Cut- Reset required, Cut- Reset required, Cut- Reset required, Cut- Reset required, Cut- Reset required, Cut- Reset required, Cut- Reset required, Cut-
off path 08 off path 07 off path 06 off path 05 off path 04 off path 03 off path 02 off path 01
8 Reserved
9 Reserved
10 Current monitoring case (Monitoring case table 1)
11 2) Current monitoring case (Monitoring case table 2)
12 Reserved
13 Reserved
14 Reserved
15 Reserved Device error Application error

1) The number of available cut-off paths depends on the device variant.

2) The number of available monitoring case tables depends on the device variant.

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Table 8: Data output: Block Configuration of the data output

Structure Data type Length in bytes Offset in bytes Description
~~~
Configuration of the data out‐ Factor UINT 2 Offset (Block With this factor, the distance data must be multiplied to receive
put with the actually used Configuration of the distance in mm.
angular range the data output) The factor is currently 1 and therefore does not need to be consid‐
ered.
+0
Number of beams UINT 2 Offset (Block The number of beams to which distance data is output depend on
Configuration of the configured start angle, stop angle and on the scan cycle time.
the data output)
+2
Scan cycle time UINT 2 Offset (Block Unit: ms
Configuration of
the data output)
+4
Reserved 2 Offset (Block
Configuration of
the data output)
+6
Start angle DINT 4 Offset (Block This value, divided by 4194304, equals the actual start angle.
Configuration of
the data output)
+8
Angular resolution DINT 4 Offset (Block This value, divided by 4194304, equals the angular resolution.
Configuration of
the data output)
+ 12
Beam interval UDINT 4 Offset (Block Approximate time between two beams.
Configuration of Unit: µs
the data output)
+ 16
Reserved 4 Offset (Block
Configuration of
the data output)
+ 20
~~~

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Table 9: Data output: Block Measurement data

Structure Data type Length in bytes Offset in bytes Description
~~~
Number of beams UDINT 4 Offset (Block
Measurement data)
+0
Measurement data 1) Distance UINT 2 Offset (Block Unit: mm
Measurement data)
+ 4 + (4 × beam number)
RSSI USINT 1 Offset (Block RSSI
Measurement data) • An RSSI value is output for each beam.
+ 4 + (4 × beam number) + 2 • This value depends on the strength of the received signal/
beam.
• This value correlates (not linearly) with the physical signal level.
At a higher signal level, the value changes are smaller.
• The RSSI is high for light (white) objects and for objects with
shiny surfaces that directly reflect the beam back at the safety
laser scanner.
• The RSSI is very high for retroreflectors.
• For dark objects and objects with shiny surfaces that the beam
hits at a flat angle, the RSSI is low. Example: At a flat angle, the
surface of a display or monitor delivers very low RSSI values or
is not recognized at all.
• Objects at a larger distance delivers lower RSSI values than
objects at a smaller distance. (The RSSI values can behave
differently for retroreflectors.)
Status SCONT 1 Offset (Block Bits 0: Valid
Measurement data) Bit 1: No reflected light pulse received 2))
Bit 2: Dazzle
+ 4 + (4 × beam number) + 3
Bit 3: Reflector
Bit 4: Contamination error
Bit 5: Contamination warning
~~~

1) A data field per beam. The data field is repeated n times. (n = number of beams).
2) If the bit has the value 1, the value in the distance field should not be used.
2)) The reflector flag indicates that the beam has hit a retroreflector. This information can be used for navigation, for example, using permanently installed retroreflectors.
In individual cases, the cause of the reflector flag can also be an edge in the spatial contour that is double-reflected by a beam.

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Table 10: Data output: Block Field interruption

Structure Data type Length in bytes Description
~~~
Field interruption 1) Length UDINT 4 Number of bytes in the data field Flags.
Flags SCONT [Length] One bit for each beam in the configured angular range.
0: Beam not interrupted 2)
1: Beam interrupted 2)
~~~

1) One data field per cut-off path. The data field is repeated 24 times.
2) Only the bits are 1 whose beams are interrupted by an object and the switch the cut-off path into the OFF state.

Table 11: Data output: Block Application data (inputs)

Structure Data type Length in bytes Offset in bytes Description
~~~
Static control inputs Control input DCONT 4 Offset (Block UDInt value. Each bit represents the logical status of a static con‐
Application data) trol inputs.
For complementary evaluation, the static control inputs are evalu‐
+0 ated in pairs.
Flags DCONT 4 Offset (Block Each bit stands for a static control input. If the bit has the value 1,
Application data) the static control input is available for monitoring case switchover.

+4
Reserved 4 Offset (Block
Application data)
+8
Monitoring case numbers Monitoring case number ARRAY of 20 × 40 Offset (Block Only if the monitoring case numbers are used for the monitoring
(monitoring case table n) UINT Application data) case switchover (e.g. assembly 103): each element of the array
stands for the monitoring case number of a monitoring case table.
+ 12
Flags DCONT 4 Offset (Block The monitoring case number of the corresponding monitoring case
Application data) table is available for the monitoring case switchover.

+ 52

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Structure Data type Length in bytes Offset in bytes Description

Dynamic control inputs Speed 1 INT 2 Offset (Block Speed at input 1 in mm/s (–32,000 mm/s … +32,000 mm/s)
Application data)
+ 56
Speed 2 INT 2 Offset (Block Speed at input 2 in mm/s (–32,000 mm/s … +32,000 mm/s)
Application data)
+ 58
Flags SCONT 1 Offset (Block Bits 0: Speed 1 valid
Application data) Bit 1: Speed 2 valid
Bits 2 … 7: Reserved
+ 60
Reserved 1 Offset (Block
Application data)
+ 61
Reserved 2 Offset (Block
Application data)
+ 62
Reserved 10 Offset (Block
Application data)
+ 64
Standby state input ENUM8 1 Offset (Block 1 = Standby state input is HIGH.
Application data) 2 = Standby state input is LOW.

+ 74
Reserved 1 Offset (Block
Application data)
+ 75
Reserved 64 Offset (Block
Application data)
+ 76

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Table 12: Data output: Block Application data (outputs)

Structure Data type Length in bytes Offset in bytes Description
Cut-off paths Cut-off path DCONT 4 Offset (Block Bits 0 – 19: Logic status of the non-secure cut-off path
Application data) Bits 20 … 31: Reserved
The bit position of a cut-off path corresponds to its number in the
+ 140 assembly or process image that was defined in Safety Designer.
Safe DCONT 4 Offset (Block The respective cut-off path is safe.
Application data)
+ 144
Valid DCONT 4 Offset (Block The bit of the corresponding cut-off path is valid.
Application data)
+ 148
Monitoring case number Monitoring case number ARRAY of 20 × 40 Offset (Block Each element of the array represents for the number of the active
(monitoring case table n) UINT Application data) monitoring case of a monitoring case table.

+ 152
Flags DCONT 4 Offset (Block The monitoring case number of the corresponding monitoring case
Application data) table is valid.

+ 192
Status standby state ENUM8 1 Offset (Block 1: Device in standby
Application data) 2: Device not in standby

+ 196

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Structure Data type Length in bytes Offset in bytes Description

Messages Host SCONT 1 Offset (Block Bit 0: Contamination warning
Application data) Bit 1: Contamination error
Bit 2: Manipulation
+ 197
Bit 3: Dazzle
Bit 4: Reference contour monitoring
Bit 5: Critical error
Bit 6, 7: Reserved
Reserved 1 Offset (Block
Application data)
+ 198
Reserved 1 Offset (Block
Application data)
+ 199
Reserved 1 Offset (Block
Application data)
+ 200
Reserved 1 Offset (Block
Application data)
+ 201
Reserved 2 Offset (Block
Application data)
+ 202
Reserved 6 Offset (Block
Application data)
+ 204
Reserved 2 Offset (Block
Application data)
+ 210
Reserved 44 Offset (Block
Application data)
+ 212
Reserved 7 Offset (Block
Application data)
+ 256

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Structure Data type Length in bytes Offset in bytes Description

Flags SCONT 1 Offset (Block Bit 0: Sleep mode status output is valid.
Application data) Bit 1: Messages (host) output is valid.
Bit 2 … 7: Reserved
+ 263
~~~

Table 13: Data output: Block Local inputs and outputs (inputs)
Structure Data type Length in bytes Offset in bytes Description
~~~

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Structure Data type Length in bytes Offset in bytes Description

Local inputs Value UDINT 4 Offset (Block Logical status of the inputs
Local inputs and microScan3 Pro I/O:
outputs)
• Bit 4: XG1, Pin 9 (UNI-I 05)
+0 • Bit 5: XG1, Pin 10 (UNI-I 06)
• Bit 6: XG1, Pin 11 (UNI-I 07)
• Bit 7: XG1, Pin 12 (UNI-I 08)
• Bit 8: XG1, Pin 13 (UNI-I 09)
• Bit 9: XG1, Pin 14 (UNI-I 10)
• Bit 10: XG1, Pin 5 (UNI-I 01)
• Bit 11: XG1, Pin 6 (UNI-I 02)
• Bit 12: XG1, Pin 7 (UNI-I 03)
• Bit 13: XG1, Pin 8 (UNI-I 04)
• Bit 14: XG4, Pin 9 (UNI-I 11)
• Bit 15: XG4, Pin 10 (UNI-I 12)
• Bit 16: XG4, Pin 11 (UNI-I 13)
• Bit 17: XG4, Pin 12 (UNI-I 14)
• Bit 18: XG4, Pin 13 (UNI-I 15)
• Bit 19: XG4, Pin 14 (UNI-I 16)
nanoScan3 Core I/O:
• Bit 4: Pin 5 (universal I/O 1)
• Bit 5: Pin 6 (universal I/O 2)
• Bit 6: Pin 7 (universal I/O 3)
nanoScan3 Pro I/O:
• Bit 4: Pin 5 (universal I/O 1)
• Bit 5: Pin 6 (universal I/O 2)
• Bit 6: Pin 7 (universal I/O 3)
• Bit 7: Pin 8 (universal I/O 4)
• Bit 8: Pin 9 (universal input 1)
• Bit 9: Pin 10 (universal input 2)
• Bit 10: Pin 11 (universal input 3)
• Bit 11: Pin 12 (universal input 4)
• Bit 12: Pin 13 (universal input 5)
• Bit 13: Pin 14 (universal input 6)
• Bit 14: Pin 15 (universal input 7)
• Bit 15: Pin 16 (universal input 8)

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Structure Data type Length in bytes Offset in bytes Description

Flags UDINT 4 Offset (Block An active bit indicates that the corresponding connection is config‐
Local inputs and ured.
outputs) microScan3 Pro I/O:
+4 • Bit 4: XG1, Pin 9 (UNI-I 05)
• Bit 5: XG1, Pin 10 (UNI-I 06)
• Bit 6: XG1, Pin 11 (UNI-I 07)
• Bit 7: XG1, Pin 12 (UNI-I 08)
• Bit 8: XG1, Pin 13 (UNI-I 09)
• Bit 9: XG1, Pin 14 (UNI-I 10)
• Bit 10: XG1, Pin 5 (UNI-I 01)
• Bit 11: XG1, Pin 6 (UNI-I 02)
• Bit 12: XG1, Pin 7 (UNI-I 03)
• Bit 13: XG1, Pin 8 (UNI-I 04)
• Bit 14: XG4, Pin 9 (UNI-I 11)
• Bit 15: XG4, Pin 10 (UNI-I 12)
• Bit 16: XG4, Pin 11 (UNI-I 13)
• Bit 17: XG4, Pin 12 (UNI-I 14)
• Bit 18: XG4, Pin 13 (UNI-I 15)
• Bit 19: XG4, Pin 14 (UNI-I 16)
nanoScan3 Core I/O:
• Bit 4: Pin 5 (universal I/O 1)
• Bit 5: Pin 6 (universal I/O 2)
• Bit 6: Pin 7 (universal I/O 3)
nanoScan3 Pro I/O:
• Bit 4: Pin 5 (universal I/O 1)
• Bit 5: Pin 6 (universal I/O 2)
• Bit 6: Pin 7 (universal I/O 3)
• Bit 7: Pin 8 (universal I/O 4)
• Bit 8: Pin 9 (universal input 1)
• Bit 9: Pin 10 (universal input 2)
• Bit 10: Pin 11 (universal input 3)
• Bit 11: Pin 12 (universal input 4)
• Bit 12: Pin 13 (universal input 5)
• Bit 13: Pin 14 (universal input 6)
• Bit 14: Pin 15 (universal input 7)
• Bit 15: Pin 16 (universal input 8)

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Structure Data type Length in bytes Offset in bytes Description

Dynamic control inputs Speed 1 INT 2 Offset (Block Speed at dynamic control input 1 in mm/s (–32,000 mm/s …
Local inputs and +32,000 mm/s)
outputs)
+8
Speed 2 INT 2 Offset (Block Speed at dynamic control input 2 in mm/s (–32,000 mm/s …
Local inputs and +32,000 mm/s)
outputs)
+ 10
Flags BIT 2 Offset (Block Bits 0: Speed 1 valid
Local inputs and Bit 1: Speed 2 valid
outputs)
+ 12
Reserved 2 Offset (Block
Local inputs and
outputs)
+ 14
Reserved 12 Offset (Block
Local inputs and
outputs)
+ 16

Table 14: Data output: Block Local inputs and outputs (outputs)
Structure Data type Length in bytes Offset in bytes Description
OSSDs Status BIT 1 Offset (Block Logical status of the OSSDs:
Local inputs and • Bit 0: OSSD 1.A
outputs) • Bit 1: OSSD 1.B
+ 28 • Bit 2: OSSD 2.A
• Bit 3: OSSD 2.B
• Bit 4: OSSD 3.A
• Bit 5: OSSD 3.B
• Bit 6: OSSD 4.A
• Bit 7: OSSD 4.B
Reserved 3 Offset (Block
Local inputs and
outputs)
+ 29

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Structure Data type Length in bytes Offset in bytes Description

Non-safe outputs Status ARRAY 32 Offset (Block Status of the outputs:
Local inputs and • 0: Signal level of the output is LOW (0 V).
outputs) • 1: Output flashes with 1 Hz.
+ 32 • 2: Output flashes with 4 Hz.
• 3: Signal level of the output is HIGH (24 V).
• 255: Output not used.
microScan3 Pro I/O:
• Byte 24: XG1, Pin 15 (UNI-O 01)
• Byte 25: XG1, Pin 16 (UNI-O 02)
• Byte 26: XG4, Pin 15 (UNI-O 03)
• Byte 27: XG4, Pin 16 (UNI-O 04)
nanoScan3 Core I/O:
• Byte 4: Pin 5 (universal I/O 1)
• Byte 5: Pin 6 (universal I/O 2)
• Byte 6: Pin 7 (universal I/O 3)
nanoScan3 Pro I/O:
• Byte 4: Pin 5 (universal I/O 1)
• Byte 5: Pin 6 (universal I/O 2)
• Byte 6: Pin 7 (universal I/O 3)
• Byte 7: Pin 8 (universal I/O 4)
~~~

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7.2 Appendix B: Communication via CoLa2

Overview
CoLa2 (Command Language 2) is a protocol from SICK, with which a client (control, PC
etc.) can access suitable SICK sensors via a network (TCP/IP).
CoLa2 is described in general in the following. You will find device-specific information
in the other chapters.

Important information

DANGER
Danger of using CoLa2 for safety function
CoLa2 may only be used for general monitoring and control tasks.
b Do not use CoLa2 for safety-related applications.

Further topics
• "CoLa2 interface of the safety laser scanner", page 19
• "Appendix C: CoLa2 variables and methods of the safety laser scanner", page 44
• "Appendix D: Examples of communication via CoLa2", page 67

7.2.1 Overview
How clients (controls, PCs etc.) connect with SICK sensors (servers) via CoLa2 is
described below.
In this context, every IT device counts as a client, for which the following applies:
• The device accesses SICK sensors.
• The device sends data or commands to SICK sensors.
• The device receives data from SICK sensors.
The communication protocols underneath the application layer (ISO-/OSI layers 1 … 6)
are not described.
It is assumed that the communication is transparent and error-free, with the following
exceptions:
• Connection loss.
• Connection blockades when there are full transmit queues.

7.2.2 Overview of the telegram format

The protocol defines 2 headers:
• Header of the layer 7.1, message layer
° Synchronization of the direct communication partners
° Specification of the length of the telegram
• Header of the layer 7.2, command layer
° Session ID that connects 2 end-to-end partners
° Request ID that connects a client request with the answer of the server (SICK
sensor)
° Command that is sent to the server (SICK sensor) or answer of the server
° Additional information, depending on the command and the transmission
direction
The session ID and request ID make it possible that several commands or answers can
be sent to further communication between 2 partners without consideration. Several
commands can also be transported in a TCP/IP packet.

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With TCP/IP, all CoLa 2.0 connect requests must be sent to port 2122 of the server
(SICK sensor). With the TCP/IP socket of the client, you can configure TCP_NODELAY
so that even small TCP/IP packages can be sent immediately and the end-to-end
communication is accelerated.

7.2.2.1 Layer 7.1, message layer

The header of layer 7.1, message layer, ensures that the rest of the telegram is
transmitted to the receiver that is described in the header.

Figure 9: Header of the layer 7.1, message layer

Table 15: Header of the layer 7.1, message layer

Element Length (bytes) Function
STx 4 Start. 4 STx symbols (0x02) mark the start of each
telegram. This pattern is not exclusive. Nevertheless, it
allows you to find the start of a telegram after a synchro‐
nization loss in connection with the parameter length.
Length 4 (Big Endian) Length. The number of bytes that follow as the rest
of the telegram. After <length> bytes, 4 STx symbols
should follow again, which mark the start of the next
telegram.
HubCntr 1 The value is always 0.
NoC 1 The value is always 0.

7.2.2.2 Layer 7.2, command layer

The layer 7.2, command layer consists of a header and information.
Data flow takes place in 2 directions:
• From a client to a SICK sensor (server) for execution
• From a SICK sensor (server) for evaluation
A complete transmission consists of a pair of these byte streams. After a method
invocation (see "Calling up methods", page 42), the SICK sensor sends two answers:
immediately a confirmation and later a result.

Figure 10: Layer 7.2, command layer

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Table 16: Layer 7.2, command layer

Element Length (bytes) Function
SessionID 4 (Big Endian) The server (SICK sensor) defines this 32-bit value when
structuring the session with a client. The entire commu‐
nication between these two partners must be marked
with the session ID.
ReqID 2 (Big Endian) Using the ReqID, the client can assign the answer of the
SICK sensor its own request.
Within one session, the client numbers all requests. The
server (SICK sensor) returns the ReqID together with its
answer.
Cmd 1 This byte contains the command to the server (SICK
sensor).
The server returns Cmd and changes the rest of the
telegram according to the sensor-specific specification of
the command.
Mode 1 Modifier for Cmd.
All servers (SICK sensors) understand a basic command
set. In addition, some variables are available for all serv‐
ers for reading or writing. In addition, many SICK sensors
have specific parameters.
IndexName, data (Variable) Specific data depending on Cmd and direction of trans‐
mission.

7.2.2.2.1 Byte sequence

The byte sequence after the bytes Cmd and Mode depends on the components of a
sensor and differs for many different servers (SICK sensors):
• For Big Endian, the Most Significant Byte of a value is sent first (Motorola format).
• For Little Endian, the Least Significant Byte of a value is sent first (Intel format).
The device uses Little Endian.
The client must convert the values if needed.
Example: the variable Angle has the index 35 (0x23) and should be assigned the value
456 (0x1C8):
Byte sequence Addressing Request Response
Big endian Index WI<0x00><0x23><0x01 WA<0x00><0x23>
><0xC8>
Name WN_Angle_<0x01><0xC WA_Angle_
8>
Little endian Index WI<0x23><0x00><0xC8 WA<0x23><0x00>
><0x01>
Name WN_Angle_<0xC8><0x0 WA_Angle_
1>

7.2.3 Sessions
The connection between a client (control, PC etc.) and a server (SICK sensor) is organ‐
ized as a session. First a session must be established, only then can the partners
communicate. Within a session, every communication exchange (each client request
and accompanying server responses) is numbered with the ReqID. The server (SICK
sensor) creates the SessionID when setting up the session. The client creates a unique
ReqID for each request to the server.

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7.2.3.1 Setup of a session

Each client must initiate at least one session, i.e. a direct connection to a server (SICK
sensor).
• For direct connection via Ethernet, you must open a socket for the IP address of
the SICK sensor.
When setting up a session, the client can define several session parameters:

Figure 11: Setup of a session with a SICK sensor (server)

The client sends a command to the server (SICK sensor) via the selected hardware
interface:
• HubCntr = 0
• NoC = 0
• Socketidx0 (not required as NoC = 0)
• SessionID = 0
• ReqID = unique value defined by client
• Cmd = ‘O’ (letter O, 0x4F)
• Mode = ‘X’ (letter X, 0x58)
• Timeout = number of seconds (binary, 1 … 255)
• ClientID = identifier of the client (bytestream)
The server (SICK sensor) returns the command with the following changes:
• SessionID = The server sends the session ID that the client must use for all
further requests to the server.
• Mode = ‘A’ (letter X, 0x41)
• The Timeout and ClientID fields are truncated.
The set-up session exists up to explicit completion or up to the timeout.
If the server (SICK sensor) does not receive a command from the client within Timeout
seconds, it ends the session. Then the client answers requests with the SessionID
with the error message "Invalid Session".
The client must send requests as often as necessary so that the timeout does not
expire. You can implement a timer on the client for this that is reset for each request.
After the timer has run out, the client should send a dummy command to maintain the
session.

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CoLa2 Client CoLa2 Server 1

Send Open Session command with ClientID and Timeout

Create
Reply with SessionID "48098" local session
Send any CoLa2 commands using SessionID
Answer with CoLa2 replies
…
Send Close Session command
Destroy
Reply with Session Closed reply local session

If the session is not explicitly closed, it will be destroyed after

timeout, if no more telegrams are received.

Figure 12: Expiration of a session

Command to end a session:

• Cmd = ‘C’
• Mode = ‘X’
Server response:
• Cmd = ‘C’
• Mode = ‘A’.

7.2.4 Using the sensors

A client normally uses 3 commands in operation:
• Read variables from SICK sensor.
• Write variables in the SICK sensor.
• Call up methods, i.e. activate a routine in the SICK sensor.
The available variables and methods are sensor specific. The following describes how
the commands need to be structured and how the responses of the SICK sensor can be
evaluated.
The variables and methods are addressed using their indexes. For certain sensors, they
can also be addressed using their names. The sensor always responds in the mode of
the invocation.
The device only supports the invocation via index.

7.2.4.1 Reading variables from the SICK sensor

Table 17: Read variables
Index Cmd = R Mode = I Data = (UINT)

Table 18: Sensor response

Index Cmd = R Mode = A Data = (UINT)(value)

7.2.4.2 Writing variables in the SICK sensor

Table 19: Write variable
Index Cmd = W Mode = I Data = (UINT)(new value)

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Table 20: Sensor response

Index Cmd = W Mode = A Data = (UINT)

7.2.4.3 Calling up methods

A method is a program in a SICK sensor that the parameters are transmitted to and
that can be started.
Table 21: Calling up methods
Index Cmd = M Mode = I Data = (UINT)(parameter)

Table 22: Sensor response

Index Cmd = M Mode = I Data = (UINT)

7.2.4.4 Error messages

The server (SICK sensor) sends error numbers in the following format:
Index Cmd = F Mode = A Data = (UINT)

The error number is sent in the sensor-specific byte sequence, see "Byte sequence",
page 39. SessionID and ReqID identify the command that caused the error.
Table 23: Fault numbers
Fault number Name Description
0x0001 METHODIN_ACCESSDENIED Incorrect user group. Calling up the
method not allowed.
0x0002 METHODIN_UNKNOWNINDEX Method with the specified SOPAS
index is not known.
0x0003 VARIABLE_UNKNOWNINDEX Variable with the specified SOPAS
index is not known.
0x0004 LOCALCONDITIONFAILED Local condition infringed. Example:
Specified value is outside the per‐
missible range for the variable.
0x0005 INVALID_DATA Invalid data for variable.
0x0006 UNKNOWN_ERROR Errors with unknown cause.
0x0007 BUFFER_OVERFLOW Communication buffer too small for
the data amount to be serialized.
0x0008 BUFFER_UNDERFLOW More data was expected. The
assigned buffer could not be filled.
0x0009 ERROR_UNKNOWN_TYPE The variable has an unknown type.
There are undocumented internal
variables in the firmware of the
device.
0x000A VARIABLE_WRITE_ ACCESS_DENIED No values could be written in this
variable.
0x000B UNKNOWN_CMD_ FOR_NAME‐ When calling up via the name: Name
SERVER of the command is not known to the
name server.
0x000C UNKNOWN_COLA_COMMAND Name of the command is not defined
in the CoLa protocol. Name of the
command is not known.
0x000D METHODIN_SERVER_BUSY Only one method can be sent to the
device at the same time.
0x000E FLEX_OUT_OF_BOUNDS Array has the incorrect length.

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Fault number Name Description

0x000F EVENTREG_UNKNOWNINDEX When calling up via index: Event is
not known.
0x0010 COLA_A_VALUE_OVERFLOW Value is too large for the value field.
0x0011 COLA_A_INVALID_CHARACTER Symbol unknown, likely not alphanu‐
meric.
0x0012 OSAI_NO_MESSAGE General error when reading a varia‐
ble.
0x0013 OSAI_NO_ANSWER_MESSAGE General error when writing to a varia‐
ble.
0x0014 INTERNAL Internal firmware error
0x0015 HubAddressCorrupted Invalid length of the SOPAS hub
address
0x0016 HubAddressDecoding SOPAS hub address cannot be
decoded (syntax)
0x0017 Reserved Reserved
0x0018 Reserved Reserved
0x0019 AsyncMethodsAreSuppressed An asynchronous method was called
up, but the device does not permit
any asynchronous methods.
0x001A n/a Reserved.
…
0x001F
0x0020 ComplexArraysNotSupported A complex array was found, but the
device does not permit any complex
arrays.
0x021 SESSION_NORESOURCES Session cannot be structured.
Server resources are exhausted as
too many clients are connected.
0x022 SESSION_UNKNOWNID Unknown session ID in the telegram
header
0x023 CANNOT_CONNECT Connection cannot be established.
0x024 InvalidPortId PortID is not known to the server.
0x025 ScanAlreadyActive A scan command has already been
carried out. Wait until the scan is
complete.
0x026 OutOfTimers SOPAS scan: The server cannot cre‐
ate a timer.
0x0027 n/a Reserved

7.2.5 CoLa2 data types

Table 24: CoLa2 data types
Name Description Value range
BOOL Boolean True (1), false (0)
USINT Unsigned short (8 bit) 0 … 255
UINT Unsigned int (16 bit) 0 … 65535
UDINT Unsigned double int (32 bit) 0 … 4294967295
ULINT Unsigned long int (64 bit) 0 … 18446744073709551616
SINT Signed short (8 bit) -128 … 127
INT Signed int (16 bit) -32768 … 32767

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Name Description Value range

DINT Signed double int (32 bit) -2147483648 … 2147483647
LINT Signed long int (64 bit) -9223372036854775808 …
9223372036854775807
REAL Float single precision (32 bit) See IEEE 754
LREAL Float double precision (64 bit) See IEEE 754
ENUM8 Short enumeration (8 bit) Values defined in a selection list (0 …
255)
ENUM16 Enumeration (16 bit) Values defined in a selection list (0 …
65535)
STRING Array of visible symbols (array of 8-bit Symbol = USInt with a value between
symbols) 0x20 … 0xFF 1)
FLEXSTRING Array of visible symbols with leading See string and FlexArray
length specification (UInt) (array of
8-bit symbols)
BYTE Bitset (8 bit) Value is transmitted as an array from
USInt.
WORD Bitset (16 bit) Value is transmitted as an array from
USInt.
DWORD Bitset (32 bit) Value is transmitted as an array from
USInt.
LWORD Bitset (64 bit) Value is transmitted as an array from
USInt.
XBYTE Bitset (8, 16, 24, 32 … bit) Value is transmitted as an array from
USInt.
SCONT Bitset (8 bit) Value is transmitted as USInt.
CONT Bitset (16 bit) Value is transmitted as UInt.
DCONT Bitset (32 bit) Value is transmitted as UDInt.
LCONT Bitset (64 bit) Value is transmitted as ULInt.
STRUCTURE Sequence of various types Possible types: basic types, struc‐
tures, arrays.
ARRAY Repetition of a type The length is defined for every array.
Possible types: basic types, struc‐
tures, arrays.
FLEXARRAY Repetition of variable length of one The maximum length is defined for
type every FlexArray.
The actual length is transmitted as
UInt at the start of the FlexArray.
Possible types: basic types, struc‐
tures, arrays.
1) Coded according to ISO 8859-15.

7.3 Appendix C: CoLa2 variables and methods of the safety laser scanner
The documented variables and methods of the safety laser scanner can be used by
programs via the CoLa2 protocol.
The communication examples serve as illustrations. The session ID in the CoLa2
header is assigned by the device at the start of a CoLa2 session. In real communica‐
tion, the session ID is therefore probably different to the examples.

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7.3.1 Variables

NOTE
Some variables have a 4 byte-long version header. If the first byte of this header is 0,
then the contents of the variable is invalid and may not be used.

7.3.1.1 Identification

7.3.1.1.1 Serial number

Overview
Name Serial number
Index 3
Data type FLEXSTRING (length ≤ 24)
Access rights Read

Description
The variable only offers read access.
The variable contains 2 serial numbers:
• Serial number (device without system plug)
• Serial number (system plug)
The value is output as a string (ISO 8859-15).
The serial numbers are separated by a slash (0x2F).

Communication example
Table 25: Serial number: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 5a 84 91 dd 00 02 ..........Z.....
52 49 03 00 RI..

Table 26: Serial number: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 1f 00 00 5a 84 91 dd 00 02 ..........Z.....
52 41 03 00 11 00 31 36 34 31 39 30 38 37 2f 31 RA....16419087/1
36 34 30 31 36 33 38 6401638

7.3.1.1.2 Firmware version

Overview
Name Firmware version
Index 4
Data type FLEXSTRING (length ≤ 24)
Access rights Read

Description
The variable only offers read access.
The variable contains the firmware version of the device.
The value is output as a string (ISO 8859-15).

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Communication example
Table 27: Firmware version: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 35 2d ba 75 00 02 ..........5-.u..
52 49 04 00 RI..

Table 28: Firmware version: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 14 00 00 35 2d ba 75 00 02 ..........5-.u..
52 41 04 00 06 00 52 30 31 2e 31 33 RA....R01.13

7.3.1.1.3 Type code

Overview
Name Type code
Index 13
Data type FLEXSTRING (length ≤ 32)
Access rights Read

Description
The variable only offers read access.
The variable contains the type code of the device.
The value is output as a string (ISO 8859-15).

Communication example
Table 29: Type code: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 38 41 5a 71 00 02 ..........8AZq..
52 49 0d 00 RI..

Table 30: Type code: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 20 00 00 38 41 5a 71 00 02 ....... ..8AZq..
52 41 0d 00 12 00 4d 49 43 53 33 2d 41 42 41 5a RA....MICS3-ABAZ
35 35 49 5a 31 00 00 00 55IZ1...

7.3.1.1.4 Part number

Overview
Name Part number
Index 14
Data type FLEXSTRING (length ≤ 32)
Access rights Read

Description
The variable only offers read access.
The variable contains the part number of the device.
The value is output as a string (ISO 8859-15).

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Communication example
Table 31: Part number: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 af 90 a7 6d 00 02 .............m..
52 49 0e 00 RI..

Table 32: Part number: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 15 00 00 af 90 a7 6d 00 02 .............m..
52 41 0e 00 07 00 31 30 37 35 38 34 38 RA....107584

7.3.1.2 Configuration

7.3.1.2.1 Device name

Overview
Name Device name
Index 17
Data type FLEXSTRING (length ≤ 32)
Access rights Read

Description
The variable only offers read access.
The variable contains the configured name of the device.
The value is output as a string (ISO 8859-15).

Communication example
Table 33: Device name: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 49 ec b2 01 00 02 ..........I.....
52 49 11 00 RI..

Table 34: Device name: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 1a 00 00 49 ec b2 01 00 02 ..........I.....
52 41 11 00 0c 00 4d 79 44 65 76 69 63 65 4e 61 RA....MyDeviceNa
6d 65 me

7.3.1.2.2 Project name

Overview
Name Project name
Index 18
Data type FLEXSTRING (length ≤ 32)
Access rights Read

Description
The variable only offers read access.
The variable contains the name of the project that is configured in the device.
The value is output as a string (ISO 8859-15).

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Communication example
Table 35: Project name: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 58 e4 17 9d 00 02 ..........X.....
52 49 12 00 RI..

Table 36: Project name: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 1b 00 00 58 e4 17 9d 00 02 ..........X.....
52 41 12 00 0d 00 4d 79 50 72 6f 6a 65 63 74 4e RA....MyProjectN
61 6d 65 ame

7.3.1.2.3 Application name

Overview
Name Application name
Index 33
Data type STRUCTURE
Access rights Read

Description
The variable only offers read access.
The variable contains the configured name of the application.
The value is output as a string (ISO 8859-15).

Structure
Table 37: Application name: Structure
Data field Data type Length in Offset in Description
bytes bytes
tVersion cVersion USINT 1 0 0: The values of this variable are invalid. Other
values: valid.
u8Major USINT 1 1 Main version number. Different numbers stand
for incompatible versions.
u8Minor USINT 1 2 Sub version number. Versions with different sub
version numbers are compatible if the main ver‐
sions numbers are the same.
u8Release USINT 1 3 Release number.
tName u32Length UDINT 4 4 Length of the string: Number of the bytes used in
au8Data.
au8Data ARRAY 32 8 Content of the string. Bytes not used contain
(USINT) zeroes.

Communication example
Table 38: Application name: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 b3 a2 a4 11 00 02 ................
52 49 21 00 RI!.

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Table 39: Application name: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 34 00 00 b3 a2 a4 11 00 02 .......4........
52 41 21 00 56 01 00 00 11 00 00 00 4d 79 41 70 RA!.V.......MyAp
70 6c 69 63 61 74 69 6f 6e 4e 61 6d 65 00 00 00 plicationName...
00 00 00 00 00 00 00 00 00 00 00 00 ............

7.3.1.2.4 User name

Overview
Name User name
Index 35
Data type STRUCTURE
Access rights Read

Description
The variable only offers read access.
The variable contains the configured name of the user.
The value is output as a string (ISO 8859-15).

Structure
Table 40: User name: Structure
Data field Data type Length in Offset in Description
bytes bytes
tVersion cVersion USINT 1 0 0: The values of this variable are invalid. Other
values: valid.
u8Major USINT 1 1 Main version number. Different numbers stand
for incompatible versions.
u8Minor USINT 1 2 Sub version number. Versions with different sub
version numbers are compatible if the main ver‐
sions numbers are the same.
u8Release USINT 1 3 Release number.
tName u32Length UDINT 4 4 Length of the string: Number of the bytes used in
au8Data.
au8Data ARRAY 32 8 Content of the string. Bytes not used contain
(USINT) zeroes.

Communication example
Table 41: User name: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 f6 36 a1 fd 00 02 ...........6....
52 49 23 00 RI#.

Table 42: User name: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 2c 00 00 f6 36 a1 fd 00 02 .......,...6....
52 41 23 00 56 01 00 00 0a 00 00 00 4d 79 55 73 RA#.V.......MyUs
65 72 4e 61 6d 65 00 00 00 00 00 00 00 00 00 00 erName..........
00 00 00 00 ....

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7.3.1.2.5 Metadata of the configuration

Overview
Name Meta data of the configuration
Index 28
Data type STRUCTURE
Access rights Read

Description
The variable only offers read access.
The variable contains the checksum of the configuration and the date and time of the
last change and configuration transmission.
Configuration of the fields, field sets and monitoring cases can be called up via other
variables. Additional information is available from your SICK subsidiary.

Structure
Table 43: Meta data of the configuration: Structure
Data field Data type Length in Offset in Description
bytes bytes
tVersion cVersion USINT 1 0 0: The values of this variable are invalid. Other
values: valid.
u8Major USINT 1 1 Main version number. Different numbers stand
for incompatible versions.
u8Minor USINT 1 2 Sub version number. Versions with different sub
version numbers are compatible if the main ver‐
sions numbers are the same.
u8Release USINT 1 3 Release number.
tModification‐ tDate UINT 2 4 Date:
Time • If time synchronization is active and a UTC
server acts as the time master: days since
January 1, 1972
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: number of full 24-hour cycles of
the time master
• time synchronization is not active: number
If
of full 24-hour cycles since the device was
switched on
Reserved 2 6
tTime UDINT 4 8 Time:
• If time synchronization is active and a UTC
server acts as the time master: milliseconds
since midnight
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: milliseconds since the start of
the current 24-hour cycle of the time master
• If time synchronization is not active: millisec‐
onds since the start of the current 24-hour
cycle since switching on the device

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Data field Data type Length in Offset in Description

bytes bytes
tTransferTime tDate UINT 2 12 Date:
• If time synchronization is active and a UTC
server acts as the time master: days since
January 1, 1972
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: number of full 24-hour cycles of
the time master
• time synchronization is not active: number
If
of full 24-hour cycles since the device was
switched on
Reserved 2 14
tTime UDINT 4 16 Time:
• If time synchronization is active and a UTC
server acts as the time master: milliseconds
since midnight
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: milliseconds since the start of
the current 24-hour cycle of the time master
• If time synchronization is not active: millisec‐
onds since the start of the current 24-hour
cycle since switching on the device
Reserved 4 20
Reserved 12 24
u32AppCheck‐ UDINT 4 36 Checksum (function)
sum
Reserved 12 40 Checksum (function and network)
u32Overall‐ UDINT 4 52
Checksum
Reserved 12 56
tIntegrityHash 4 × UDINT 16 68 MD5 hash

Communication example
Table 44: Meta data of the configuration: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 91 af 71 7d 00 02 ............q}..
52 49 1c 00 RI..

Table 45: Meta data of the configuration: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 60 00 00 91 af 71 7d 00 02 .......`....q}..
52 41 1c 00 52 01 00 00 c2 40 00 00 fa 2c a0 02 RA..R....@...,..
c2 40 00 00 fa 2c a0 02 00 00 00 00 00 00 00 00 .@...,..........
00 00 00 00 00 00 00 00 a3 89 54 9e 00 00 00 00 ..........T.....
00 00 00 00 00 00 00 00 f5 ee 1a 48 00 00 00 00 ...........H....
00 00 00 00 00 00 00 00 29 e5 0c aa 39 64 3d 32 ........)...9d=2
65 4f 43 ee 3f fa 17 9f eOC.?...

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Table 46: Sensor response (example), decoded

Data field Value
tModificationTime 2017-05-22 12:14:11.706000
tTransferTime 2017-05-22 12:14:11.706000
u32AppChecksum a389549e
u32OverallChecksum f5ee1a48
tIntegrityHash 29e50caa39643d32654f43ee3ffa179f

7.3.1.3 Device status

7.3.1.3.1 Status overview

Overview
Name Status overview
Index 23
Data type STRUCTURE
Access rights Read

Description
The variable only offers read access.
The variable contains the following information:
• Status of the device
• Status of the configuration
• Status of the application
• Current system time
• Error code and time stamp of the error (only if there is an error present)
Structure
Table 47: Status overview: Structure
Data field Data type Length in Offset in Description
bytes bytes
tVersion cVersion USINT 1 0 0: The values of this variable are invalid. Other
values: valid.
u8Major USINT 1 1 Main version number. Different numbers stand
for incompatible versions.
u8Minor USINT 1 2 Sub version number. Versions with different sub
version numbers are compatible if the main ver‐
sions numbers are the same.
u8Release USINT 1 3 Release number.
eDeviceState ENUM8 1 4 0x0: Normal
0x1: Error
0x2: Initialization
0x3: Switch off
0x4: Optics cover calibration

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Data field Data type Length in Offset in Description

bytes bytes
eConfigState ENUM8 1 5 0x0: Unknown
0x1: Configuration missing
0x2: Device is being configured
0x3: Not verified
0x4: Declined
0x5: Verified
0x6: Internal error
0x7: Configuration is being verified
eApplication‐ ENUM8 1 6 0x0: Stopped
State 0x1: Starting
0x2: Waiting for partner
0x3: Waiting for inputs
0x4: Started
0x5: Standby state
Reserved 1 7
Reserved 2 8
Reserved 2 10
tCurrentTime u32PowerOn‐ UDINT 4 12
Count
tTime UDINT 4 16 Time:
• If time synchronization is active and a UTC
server acts as the time master: milliseconds
since midnight
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: milliseconds since the start of
the current 24-hour cycle of the time master
• If time synchronization is not active: millisec‐
onds since the start of the current 24-hour
cycle since switching on the device
tDate UINT 2 20 Date:
• If time synchronization is active and a UTC
server acts as the time master: days since
January 1, 1972
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: number of full 24-hour cycles of
the time master
• time synchronization is not active: number
If
of full 24-hour cycles since the device was
switched on
Reserved 2 22

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Data field Data type Length in Offset in Description

bytes bytes
tErrorInfo u32Code UDINT 4 24 Error code as on the display of the device (only if
error is present).
Reserved 16 28
Reserved 8 44
tTime UDINT 4 52 Time:
• If time synchronization is active and a UTC
server acts as the time master: milliseconds
since midnight
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: milliseconds since the start of
the current 24-hour cycle of the time master
• If time synchronization is not active: millisec‐
onds since the start of the current 24-hour
cycle since switching on the device
tDate UDINT 2 56 Date:
• If time synchronization is active and a UTC
server acts as the time master: days since
January 1, 1972
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: number of full 24-hour cycles of
the time master
• time synchronization is not active: number
If
of full 24-hour cycles since the device was
switched on
Reserved 2 58
Reserved 4 60

Communication example
Table 48: Status overview: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 a0 03 08 a1 00 02 ................
52 49 17 00 RI..

Table 49: Status overview: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 4c 00 00 a0 03 08 a1 00 02 .......L........
52 41 17 00 52 01 00 00 00 05 04 00 00 00 00 00 RA..R...........
b5 02 00 00 41 b6 d4 00 00 00 00 00 00 00 00 00 ....A...........
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
af 01 00 00 ....

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Table 50: Sensor response (example), decoded

Data field Value
eDeviceState 0
eConfigState 5
eApplicationState 4
tCurrentTime
u32PowerOnCount 693
tTime 13940289
tDate 0
tErrorInfo
u32Code 00000000
tTime 0
tDate 0

7.3.1.3.2 SOPAS device status

Overview
Name SOPAS device status
Index 15
Data type ENUM8
Access rights Read

Description
The variable contains general information on the device status.
Table 51: SOPAS device status: Values
Value Meaning Quality of the measurement
0 Unclear device status Not defined
1 Device start Not defined
2 Service mode (e.g. firmware update, Not defined
optics cover calibration)
3 Normal operation Good measurement
4 Device is waiting (e.g. for communi‐ Unclear or no measurement
cation partner or input signal)
5 Maintenance recommended (e.g. Good measurement
contamination warning)
6 Maintenance required (e.g. configu‐ Unclear measurement
ration incompatible)
7 Correctable error (e.g. configuration Malfunction
error, network error)
8 Serious error (e.g. contamination Malfunction
error, configuration error, network
error)

Communication example
Table 52: SOPAS device status: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 59 ac 3f 69 00 02 ..........Y.?i..
52 49 0f 00 RI..

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Table 53: SOPAS device status: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0d 00 00 59 ac 3f 69 00 02 ..........Y.?i..
52 41 0f 00 03 RA...

7.3.1.3.3 Note on troubleshooting

Overview
Name Note on troubleshooting
Index 16
Data type CONT
Access rights Read

Description
Together with the SOPAS device status variables, the “Note on troubleshooting” variable
provides information on troubleshooting.
Table 54: Note on troubleshooting: Values
Value Meaning
0x0001 Configure device, verify configuration
(b0000 0000 0000 0001)
0x0002 Test configuration, test device variant
(b0000 0000 0000 0010)
0x0004 Check communication partner, check manipu‐
(b0000 0000 0000 0100) lation
0x0008 Check input signals, check network and other
(b0000 0000 0000 1000) connections
0x0010 Check the error messages
(b0000 0000 0001 0000)
0x0020 Configure device (including network settings)
(b0000 0000 0010 0000)
0x0040 Checking the firmware
(b0000 0000 0100 0000)
0x0080 Wait a few seconds
(b0000 0000 1000 0000)

Communication example
Table 55: Note on troubleshooting: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 59 ac 3f 69 00 03 ..........Y.?i..
52 49 10 00 RI..

Table 56: Note on troubleshooting: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0e 00 00 59 ac 3f 69 00 03 ..........Y.?i..
52 41 10 0000 00 RA....

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7.3.1.3.4 Device temperature

Overview
Name Device temperature
Index 362
Data type STRUCTURE
Access rights Read

Description
The variable only offers read access.
The variable contains the temperature that is measured in the device´s sender module.
The temperature value can serve as an approximate guide for the interior temperature
of the device. The value can significantly deviate from the specified operating tempera‐
ture.

Structure
Table 57: Device temperature: Structure
Data field Data type Length in Offset in Description
bytes bytes
Reserved 6 0
i16Temperature INT 2 6 Temperature in 0.1 °C
Reserved 8 8

Communication example
Table 58: Device temperature: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 3c f5 29 13 00 03 ..........<.)...
52 49 6a 01 RIj.

Table 59: Device temperature: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 1c 00 00 3c f5 29 13 00 03 ..........<.)...
52 41 6a 01 02 00 7a 13 dc 38 75 01 68 32 9a 3d RAj...z..8u.h2.=
00 00 69 13 ..i.

7.3.1.3.5 Device time (nanoScan3 only)

Overview
Name Device time
Index 64203
Data type STRUCTURE
Access rights Read

Description
The variable only offers read access.
The variable contains the device time, the configured time zone and the time since
device start.
This variable is only available for the nanoScan3.

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Structure
Table 60: Device time: Structure
Data field Data type Length in Offset in Description
bytes bytes
tVersion cVersion USINT 1 0 0: The values of this variable are invalid. Other
values: valid.
u8Major USINT 1 1 Main version number. Different numbers stand
for incompatible versions.
u8Minor USINT 1 2 Sub version number. Versions with different sub
version numbers are compatible if the main ver‐
sions numbers are the same.
u8Release USINT 1 3 Release number.
UTC Time tDate UINT 2 4 Date:
• If time synchronization is active and a UTC
server acts as the time master: days since
January 1, 1972
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: number of full 24-hour cycles of
the time master
• If time synchronization is not active: number
of full 24-hour cycles since the device was
switched on
Reserved 2 6
tTime UDINT 4 8 Time:
• If time synchronization is active and a UTC
server acts as the time master: milliseconds
since midnight
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: milliseconds since the start of
the current 24-hour cycle of the time master
• If time synchronization is not active: millisec‐
onds since the start of the current 24-hour
cycle since switching on the device
Reserved 4 12
Time Zone i32OffsetMins DINT 4 16 Time difference to UTC in minutes.
acName STRING 8 20 Abbreviation for time zones, e.g. CET for Central
European Time.
Reserved 4 28

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Data field Data type Length in Offset in Description

bytes bytes
Power-on Time tDate UINT 2 32 Date:
• If time synchronization is active and a UTC
server acts as the time master: days since
January 1, 1972
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: number of full 24-hour cycles of
the time master
• time synchronization is not active: number
If
of full 24-hour cycles since the device was
switched on
Reserved 2 34
tTime UDINT 4 36 Time:
• If time synchronization is active and a UTC
server acts as the time master: milliseconds
since midnight
• If time synchronization is active and a device
in the Safety Designer project acts as the
time master: milliseconds since the start of
the current 24-hour cycle of the time master
• If time synchronization is not active: millisec‐
onds since the start of the current 24-hour
cycle since switching on the device

Communication example
Table 61: Device time: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 3d f0 a9 21 00 03 ..........=..!..
52 49 cb fa RI..

Table 62: Device time: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 34 00 00 3d f0 a9 21 00 03 .......4..=..!..
52 41 cb fa 52 01 00 00 3d 44 01 00 77 67 1d 03 RA..R...=D..wg..
04 19 e3 02 3c 00 00 00 43 45 54 00 00 00 00 00 ....<...CET.....
00 00 00 00 3d 44 00 00 11 3e 05 03 ....=D...>..

7.3.1.4 Measurement Data

7.3.1.4.1 Saved configuration of the data output channel

Overview
Name Saved configuration of the data output channel
Index 177
Data type STRUCTURE
Access rights Read

Description
Contains the saved configuration of all data output channels. The saved configuration
is configured with Safety Designer. It is also active after restarting the device. The cur‐
rently active configuration can deviate from the saved configuration if the configuration
has been changed with the NavData_ChangeCommSettings method.

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7 ANNEX

Structure
Table 63: Saved configuration of the data output channel: Structure
Data field Data type Length in Offset in Description
bytes bytes
cVersion USINT 1 0 0: The values of this variable are invalid. Other
tVersion

values: valid.
u8Major USINT 1 1 Main version number. Different numbers stand
for incompatible versions.
u8Minor USINT 1 2 Sub version number. Versions with different sub
version numbers are compatible if the main ver‐
sions numbers are the same.
u8Release USINT 1 3 Release number.
oEnabled BOOL 1 4 True: The channel is active.
For every channel (0 … 3)

False: The channel is not active.

eInterfaceType ENUM8 1 5 The network interface via which the data output
takes place:
• 0: EFI-pro
• 1: Ethernet/IP
• 3: PROFINET
• 4: Non-secure Ethernet
Reserved 2 6
tReceiverAddress 4 × BYTE 4 8 IP address of the system to which the measure‐
ment data is sent via UDP (Little Endian).
u16PortNumber UINT 2 12 UDP port of the system to which the measure‐
ment data is sent via UDP.
u16PublishingFreq UINT 2 14 Frequency with which the measurement data is
output as a fraction of the scanning frequency.
1 means that each scan is output. 2 means that
every second scan is output.
r10_22AngleStart DINT 4 16 Angle at which the measurement data output
should begin. The angle is saved in degrees (not
radians) with a resolution of 1/4194304° in the
range of –47.5° to 227.5°. If i16AngleStart =
0 and i16AngleStop = 0, then all measurement
data is output.
r10_22AngleStop DINT 4 20 Angle at which the measurement data output
should end. The angle is saved in degrees (not
radians) with a resolution of 1/4194304° in the
range of –47.5° to 227.5°. If i16AngleStart =
0 and i16AngleStop = 0, then all measurement
data is output.
tFeatures CONT 2 24 Data blocks that should be contained in the
data output:
• Bit 0: Device status
• Bit 1: Configuration of the data output
• Bit 2: Measurement data
• Bit 3: Field interruption
• Bit 4: Application data
• Bit 5: Local inputs and outputs
• Bit 6 … Bit 15: Reserved
Reserved 2 26

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Communication example
Table 64: Saved configuration of the data output channel: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 d8 2e b7 27 00 03 .............´..
52 49 b1 00 RI..

Table 65: Saved configuration of the data output channel: Sensor response (example)
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 70 00 00 d8 2e b7 27 00 03 .......p.....´..
52 41 b1 00 56 01 00 00 00 00 00 00 00 00 00 00 RA..V...........
ac 17 01 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
00 00 00 00 00 00 00 00 ac 17 01 00 00 00 00 00 ................
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
ac 17 01 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
00 00 00 00 00 00 00 00 ac 17 01 00 00 00 00 00 ................
00 00 00 00 00 00 00 00 ........

7.3.1.4.2 Active configuration of the data output channel

Overview
Name Active configuration of the data output channel
Index 178
Data type STRUCTURE
Access rights Read

Description
Contains the currently active configuration of all data output channels. The currently
active configuration can deviate from the saved configuration. The saved configuration
will be active again after restarting the device in this case. The variable also contains
the derived configuration for each channel.

Structure
Table 66: Active configuration of the data output channel: Structure
Data field Data type Length in Offset in Description
bytes bytes
cVersion USINT 1 0 0: The values of this variable are invalid. Other
tVersion

values: valid.
u8Major USINT 1 1 Main version number. Different numbers stand
for incompatible versions.
u8Minor USINT 1 2 Sub version number. Versions with different sub
version numbers are compatible if the main ver‐
sions numbers are the same.
u8Release USINT 1 3 Release number.

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Data field Data type Length in Offset in Description

bytes bytes
oEnabled BOOL 1 4 True: The channel is active.
Configured value
For every channel (0 … 3)

False: The channel is not active.

eInterfaceType ENUM8 1 5 The network interface via which the data output
takes place:
• 0: EFI-pro
• 1: Ethernet/IP
• 3: PROFINET
• 4: Non-secure Ethernet
Reserved 2 6
tReceiverAddress 4 × BYTE 4 8 IP address of the system to which the measure‐
ment data is sent via UDP (Little Endian).
u16PortNumber UINT 2 12 UDP port of the system to which the measure‐
ment data is sent via UDP.
u16PublishingFreq UINT 2 14 Frequency with which the measurement data is
output as a fraction of the scanning frequency.
1 means that each scan is output. 2 means that
every second scan is output.
r10_22AngleStart DINT 4 16 Angle at which the measurement data output
should begin. The angle is saved in degrees (not
radians) with a resolution of 1/4194304° in the
range of –47.5° to 227.5°. If i16AngleStart =
0 and i16AngleStop = 0, then all measurement
data is output.
r10_22AngleStop DINT 4 20 Angle at which the measurement data output
should end. The angle is saved in degrees (not
radians) with a resolution of 1/4194304° in the
range of –47.5° to 227.5°. If i16AngleStart =
0 and i16AngleStop = 0, then all measurement
data is output.
tFeatures CONT 2 24 Data blocks that should be contained in the
data output:
• Bit 0: Device status
• Bit 1: Configuration of the data output
• Bit 2: Measurement data
• Bit 3: Field interruption
• Bit 4: Application data
• Bit 5: Local inputs and outputs
• Bit 6 … Bit 15: Reserved
Reserved 2 26

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Data field Data type Length in Offset in Description

bytes bytes
u16MultiplicationFactor UINT 2 28 Factor with which the distance values have to be
Used values

multiplied.
u16NumBeams UINT 2 30 Number of beams based on the configured start
angle and end angle.
u16ScanTime UINT 2 32 Duration of a scan in milliseconds
Reserved 2 34
r10_22StartAngle DINT 4 36 Start angle of the first beam (derived from
the configured start angle). The angle is output
in degrees (not radians) with a resolution of
1/4194304° in the range of –360° to 360°.
r10_22AngularScanBeam‐ DINT 4 40 Angular resolution, the angle between two neigh‐
Resolution boring beams. The angle is output in degrees
(not radians) with a resolution of 1/4194304° in
the range of –360° to 360°.
u32InterBeamPeriod UDINT 4 44 Time between 2 successive beams in microsec‐
onds.
Reserved 4 48

Communication example
Table 67: Active configuration of the data output channel: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 48 58 29 93 00 03 ..........HX)...
52 49 b2 00 RI..

Table 68: Active configuration of the data output channel: Sensor response (example)
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 d0 00 00 48 58 29 93 00 03 ..........HX)...
52 41 b2 00 52 01 01 00 00 00 00 00 00 00 00 00 RA..R...........
ac 17 01 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
01 00 00 00 1e 00 00 00 00 00 00 00 f8 d5 20 00 .............. .
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
ac 17 01 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
01 00 00 00 1e 00 00 00 00 00 00 00 f8 d5 20 00 .............. .
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
ac 17 01 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
01 00 00 00 1e 00 00 00 00 00 00 00 f8 d5 20 00 .............. .
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
ac 17 01 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
01 00 00 00 1e 00 00 00 00 00 00 00 f8 d5 20 00 .............. .
00 00 00 00 00 00 00 00 ........

7.3.1.4.3 Most recent measurement data

Overview
Name Most recent measurement data
Index • 179: Channel 0
• 180: Channel 1
• 181: Channel 2
• 182: Channel 3
Data type STRUCTURE
Access rights Read

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Description
Contains the most recent data from a channel. Each channel has its own index. The
data is only valid if the channel is active.

Structure
Information on the structure see "Appendix A: Structure of data output", page 22.

Communication example
Table 69: Most recent measurement data: Variable recall
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 73 61 cf 5f 00 03 ..........sa._..
52 49 b3 00 RI..

Table 70: Most recent measurement data: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 02 f0 00 00 73 61 cf 5f 00 03 ..........sa._..
52 41 b3 00 52 02 00 00 6d b5 0a 01 8c 8f 0a 01 RA..R...m.......
00 00 00 00 61 02 00 00 7c 02 00 00 00 00 00 00 ....a...|.......
d4 58 00 00 4c 00 10 00 60 00 18 00 7c 00 c4 00 .X..L...`...|...
44 01 90 00 d8 01 08 01 00 00 00 00 00 00 00 00 D...............
00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 ................
01 55 00 00 ff 00 00 00 00 00 01 00 00 00 00 00 .U..............
01 00 00 00 01 00 30 00 1e 00 00 00 c0 2d 5c fd ......0......-\.
f8 d5 20 00 2b 00 00 00 00 00 00 00 01 00 00 00 .. .+...........
30 00 00 00 80 05 1a 01 83 05 1a 01 83 05 1a 01 0...............
86 05 1a 01 85 05 1a 01 85 05 1a 01 88 05 1a 01 ................
88 05 1a 01 8c 05 1a 01 8d 05 1a 01 90 05 1a 01 ................
[…] […]

7.3.2 Methods

7.3.2.1 Identifying the device

Overview
Name Identifying the device
Index 14
Data type (input) UINT
Data type (output) –

Description
The method allows the display of the device to flash for a defined period of time.
Flashing can help the user to identify the device.

Input parameters
Duration of the flashing in seconds, coded as UInt.

Output values
None.

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Communication example
Table 71: Identifying device: Method invocation
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0e 00 00 b0 36 2c 2d 00 02 ...........6,-..
4d 49 0e 00 05 00 MI....

Table 72: Identifying device: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 0c 00 00 b0 36 2c 2d 00 02 ...........6,-..
41 49 0e 00 AI..

7.3.2.2 Configuring the data output

Overview
Name Configuring the data output
Index 176
Data type (input) STRUCTURE
Data type (output) STRUCTURE

Description
Used to configure a data output channel. This configuration is not permanent, i.e. the
previously saved configuration will be active again after restarting the device.
An entry is created in the message history when calling up this method.
To activate data output on request and simultaneously deactivate continuous data
output, you must activate a channel and enter 0.0.0.0 as the IPv4 address of the
receiver and port 0.
For devices with a max. protective field range of 9.0 m, the transmitted data quantity
can be very large (> 230 kByte/s) if all measured values are transmitted. For stable
data output, you can adapt the transmission frequency (e.g. every second measure‐
ment) or decrease the angular range.

Input parameters
Table 73: Configuring the data output: Input parameters
Data field Data type Length in Offset in Description
bytes bytes
u8ChannelNumber USINT 1 0 Number of the channel to be configured (0 ... 3).
Reserved 3 1
oEnabled BOOL 1 4 0: Deactivate channel.
1: Activate channel.
eInterfaceType ENUM8 1 5 The network interface via which the data output
takes place:
• 0: EFI-pro
• 1: Ethernet/IP
• 3: PROFINET
• 4: Non-secure Ethernet
For microScan3 – EtherCAT®, data output is via
the non-safe Ethernet connection.
Reserved 2 6
tReceiverAddress 4 × BYTE 4 8 IP address of the system to which the measure‐
ment data is sent via UDP (Little Endian).

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Data field Data type Length in Offset in Description

bytes bytes
u16PortNumber UINT 2 12 UDP port of the system to which the measure‐
ment data is sent via UDP.
Valid port numbers: 2 … 65,534.
u16PublishingFreq UINT 2 14 Frequency with which the measurement data is
output as a fraction of the scanning frequency.
1 means that each scan is output. 2 means that
every second scan is output.
r10_22AngleStart DINT 4 16 Angle at which the measurement data output
should begin. The angle is saved in degrees (not
radians) with a resolution of 1/4194304° in the
range of –47.5° to 227.5°. If i16AngleStart =
0 and i16AngleStop = 0, then all measurement
data is output.
r10_22AngleStop DINT 4 20 Angle at which the measurement data output
should end. The angle is saved in degrees (not
radians) with a resolution of 1/4194304° in the
range of –47.5° to 227.5°. If i16AngleStart =
0 and i16AngleStop = 0, then all measurement
data is output.
tFeatures CONT 2 24 Data blocks that should be contained in the
data output:
• Bit 0: Device status
• Bit 1: Configuration of the data output
• Bit 2: Measurement data
• Bit 3: Field interruption
• Bit 4: Application data
• Bit 5: Local inputs and outputs
• Bit 6 … Bit 15: Reserved
Reserved 2 26

Output values
Table 74: Configuring the data output: Output values
Data field Data type Length in Offset in Description
bytes bytes
eResult ENUM8 1 0 • 0: The configuration of the channel has been
successfully activated. For all other values,
the previously present configuration has not
been changed.
• 1: The channel configuration could not be
activated. An general error has occurred.
• 2: The channel configuration could not be
activated. The supported number of channels
has already been exhausted.
• 3: The channel configuration could not be
activated. The device used does not support
the specified interface.
• 4: The channel configuration could not be
activated. The device used does not support
the start angle specified.
• 5: The channel configuration could not be
activated. The device used does not support
the end angle specified or the end angle is
not greater than the start angle.
• 6: The channel configuration could not be
activated. All reserved bits must be set to 0.

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Data field Data type Length in Offset in Description

bytes bytes
Reserved 3 1

Communication example
Table 75: Configuring the data output: Method invocation
CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 28 00 00 f1 7f 41 03 00 03 .......(....A...
4d 49 b0 00 00 00 00 00 01 00 00 00 32 00 a8 c0 MI..........2...
50 c3 28 00 00 00 80 fd 00 00 80 02 00 00 00 00 P.(.............

Table 76: Configuring the data output: Sensor response (example)

CoLa2 telegram (HEX) ISO 8859-15
02 02 02 02 00 00 00 10 00 00 f1 7f 41 03 00 03 ............A...
41 49 b0 00 00 00 00 00 AI......

7.4 Appendix D: Examples of communication via CoLa2

7.4.1 Example 1: Activating continuous data output via UDP

This chapter describes how the connection to the device is established via the network
(TCP/IP) and the NavData_ChangeCommSettings method is called up to activate
continuous data output via UDP.
It is strongly recommended to familiarize yourself with CoLa2 communication in
advance, see "Appendix B: Communication via CoLa2", page 37.
1. Open TCP session to the sensor, port 2122.
2. Open CoLa2 session. To do so, send a CoLa2 telegram to establish a session
(Cmd = “O”, Mode = “X”)
--> 02020202 0000000d 00 00 00000000 0001 4f 58 1e0000 (OX,
Timeout=30sec)

✓ The device confirms the command (Cmd = “O”, Mode = “A”) and assigns a session
ID (SessionID).
<-- 02020202 0000000a 00 00 2d6c2733 0001 4f 41 (OA)

3. Call up method NavData_ChangeCommSettings (Index = 0xB0) (Cmd = “M”,

Mode = “I”).
Data output is activated and configured with the transmitted parameters (high‐
lighted in bold in the example).
--> 02020202 00000028 00 00 2d6c2733 0003 4d 49
b00000000000010000003200a8c050c32800000080fd000080023f000000 (MI)

Table 77: Parameters transmitted in the example

Value (hexadecimal) Field Value (decoded) Meaning
00 u8ChannelNumber 0 Channel 0 should be
configured.
000000 Reserved
01 oEnabled True Activate channel.
00 eInterfaceType 0 The data is output
via a the EFI-pro net‐
work interface.
0000 Reserved

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7 ANNEX

Value (hexadecimal) Field Value (decoded) Meaning

32 tReceiverAddress 50 The measurement
00 data is sent
0
to IP address
a8 168 192.168.0.50.
c0 192
50c3 u16PortNumber 50000 The data is sent to
UPD port 50,000.
2800 u16PublishingFreq 40 The measurement
data is output with
a frequency of 1/40,
meaning every 40th
scan is output.
000080fd r10_22AngleStart –41943040 The measurement
data output should
begin at angle (–
41943040/419430
4)° = –10°.
00008002 r10_22AngleStop 41943040 The measurement
data output should
end at angle
(41943040/419430
4)° = 10°.
3f00 tFeatures Bits 0 … 5 are 1. The device status,
configuration of
data output, meas‐
urement data, object
detection, applica‐
tion data, local
inputs and outputs
data blocks should
be contained in the
data output.
0000 Reserved

✓ The device confirms the method call-up (Cmd = “A”, Mode = “I”).
<-- 02020202 00000010 00 00 2d6c2733 0003 41 49 b00000000000
(AI)

4. Close CoLa2 session (Cmd = “C”, Mode = “X”).

--> 02020202 0000000a 00 00 2d6c2733 0005 43 58 (CX)

✓ The device confirms the command (Cmd = “C”, Mode = “A”).

<-- 02020202 0000000a 00 00 2d6c2733 0005 43 41 (CA)

5. Close the TCP session.

In the example, the CoLa2 and the TCP sessions are closed after activating data output.
Otherwise the device would close the TCP session after a timeout of 30 seconds. Data
output via UDP is independent from a CoLa2 session and also continues to run after
the end of a session. For configuration changes or to end data output, a new CoLa2
session can be established.

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 ANNEX 7

7.4.2 Example 2: Activating data output on request

The measurement data can only be called up when data output is activated. You can
activate data output in Safety Designer or call up the NavData_ChangeCommSettings
method as in example 1. If you enter 0.0.0.0 as the IPv4 address of the receiver and
port 0, the UDP output is suppressed. However, the data is available to be called up
via the channel.
Transmit the following parameters via the method NavData_ChangeCommSettings to
activate the send mode "on request":
oEnabled TRUE
eInterfaceType (Device-specific interface)
tReceiverAddress 0.0.0.0
u16PortNumber 0
u16PublishingFreq 1
r10_22AngleStart (can be selected by the customer)
r10_22AngleStop (can be selected by the customer)
tFeatures (can be selected by the customer)

NOTE
If the data output of a deactivated channel is called up, the data received is invalid.

You can obtain the most recent data output instance from the variable NavData_tLa-
testTelegram (Index = 179/0xB3 bis 182/0xB6, depending on channel) via CoLa2,
see "Most recent measurement data", page 63.
With the following steps you can open a CoLa2 session and read the most recent
telegram on channel 0. Channel 0 must be activated.
1. Open TCP session to the sensor, port 2122.
2. Open CoLa2 session. To do so, send a CoLa2 telegram to establish a session
(Cmd = “O”, Mode = “X”).
--> 02020202 0000000d 00 00 00000000 0001 4f 58 1e0000 (OX,
Timeout=30sec)

✓ The device confirms the command (Cmd = “O”, Mode = “A”) and assigns a session
ID (SessionID).
<-- 02020202 0000000a 00 00 a09e8aab 0001 4f 41 (OA)

3. Read the variable NavData_tLatestTelegram for channel 0 (Index = 179/0xB3)

(Cmd = “R”, Mode = “I”).
--> 02020202 0000000c 00 00 a09e8aab 0003 52 49 b300 (RI)

✓ The device confirms the command (Cmd = “R”, Mode = “A”) and supplies the
contents of the variable.
<-- 02020202 000002f0 00 00 a09e8aab 0003 52 41
b300520200006db50a018c8f0a01000000003b0100004e0 […] (RA)

4. Repeat step 3. as many times as necessary to call up the data output multiple
times. The device closes the TCP session after 30 seconds without activity.
5. Close CoLa2 session (Cmd = “C”, Mode = “X”).
--> 02020202 0000000a 00 00 a09e8aab 0004 43 58 (CX)

✓ The device confirms the command (Cmd = “C”, Mode = “A”).

<-- 02020202 0000000a 00 00 a09e8aab 0004 43 41 (CA)

6. Close the TCP session.

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8 LIST OF FIGURES

8 List of figures
1. Light pulses scan an area............................................................................................ 8
2. Data output................................................................................................................. 11
3. Cut-off paths in Safety Designer................................................................................14
4. UDP datagram and measurement data.................................................................... 15
5. Example datagrams....................................................................................................16
6. Laser beams............................................................................................................... 17
7. Rounding to the 8th laser beam................................................................................18
8. Cola2 protocol stack...................................................................................................19
9. Header of the layer 7.1, message layer.................................................................... 38
10. Layer 7.2, command layer..........................................................................................38
11. Setup of a session with a SICK sensor (server)........................................................40
12. Expiration of a session............................................................................................... 41

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 LIST OF TABLES 9

9 List of tables
1. Data output datagram headers................................................................................. 16
2. Example: UDP datagram............................................................................................ 17
3. microScan3, outdoorScan3 data sheet.................................................................... 20
4. nanoScan3 data sheet...............................................................................................21
5. Data output: Header...................................................................................................23
6. Data output: Block Device status.............................................................................. 24
7. Content of the block Device status............................................................................25
8. Data output: Block Configuration of the data output...............................................26
9. Data output: Block Measurement data.....................................................................27
10. Data output: Block Field interruption........................................................................ 28
11. Data output: Block Application data (inputs)............................................................28
12. Data output: Block Application data (outputs)......................................................... 30
13. Data output: Block Local inputs and outputs (inputs)............................................. 32
14. Data output: Block Local inputs and outputs (outputs)...........................................35
15. Header of the layer 7.1, message layer.................................................................... 38
16. Layer 7.2, command layer..........................................................................................39
17. Read variables............................................................................................................ 41
18. Sensor response.........................................................................................................41
19. Write variable.............................................................................................................. 41
20. Sensor response.........................................................................................................42
21. Calling up methods.....................................................................................................42
22. Sensor response.........................................................................................................42
23. Fault numbers.............................................................................................................42
24. CoLa2 data types........................................................................................................43
25. Serial number: Variable recall....................................................................................45
26. Serial number: Sensor response (example)..............................................................45
27. Firmware version: Variable recall...............................................................................46
28. Firmware version: Sensor response (example).........................................................46
29. Type code: Variable recall...........................................................................................46
30. Type code: Sensor response (example).....................................................................46
31. Part number: Variable recall...................................................................................... 47
32. Part number: Sensor response (example)................................................................ 47
33. Device name: Variable recall..................................................................................... 47
34. Device name: Sensor response (example)............................................................... 47
35. Project name: Variable recall..................................................................................... 48
36. Project name: Sensor response (example)............................................................... 48
37. Application name: Structure...................................................................................... 48
38. Application name: Variable recall.............................................................................. 48
39. Application name: Sensor response (example)........................................................ 49
40. User name: Structure................................................................................................. 49
41. User name: Variable recall......................................................................................... 49
42. User name: Sensor response (example)................................................................... 49
43. Meta data of the configuration: Structure.................................................................50
44. Meta data of the configuration: Variable recall........................................................ 51
45. Meta data of the configuration: Sensor response (example).................................. 51
46. Sensor response (example), decoded.......................................................................52
47. Status overview: Structure......................................................................................... 52
48. Status overview: Variable recall.................................................................................54
49. Status overview: Sensor response (example)...........................................................54
50. Sensor response (example), decoded.......................................................................55
51. SOPAS device status: Values..................................................................................... 55
52. SOPAS device status: Variable recall.........................................................................55
53. SOPAS device status: Sensor response (example)...................................................56
54. Note on troubleshooting: Values............................................................................... 56

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9 LIST OF TABLES

55. Note on troubleshooting: Variable recall...................................................................56

56. Note on troubleshooting: Sensor response (example).............................................56
57. Device temperature: Structure...................................................................................57
58. Device temperature: Variable recall.......................................................................... 57
59. Device temperature: Sensor response (example).................................................... 57
60. Device time: Structure................................................................................................58
61. Device time: Variable recall........................................................................................59
62. Device time: Sensor response (example)..................................................................59
63. Saved configuration of the data output channel: Structure.................................... 60
64. Saved configuration of the data output channel: Variable recall............................ 61
65. Saved configuration of the data output channel: Sensor response (example)...... 61
66. Active configuration of the data output channel: Structure.....................................61
67. Active configuration of the data output channel: Variable recall.............................63
68. Active configuration of the data output channel: Sensor response (example).......63
69. Most recent measurement data: Variable recall...................................................... 64
70. Most recent measurement data: Sensor response (example)................................ 64
71. Identifying device: Method invocation.......................................................................65
72. Identifying device: Sensor response (example)........................................................ 65
73. Configuring the data output: Input parameters........................................................65
74. Configuring the data output: Output values..............................................................66
75. Configuring the data output: Method invocation......................................................67
76. Configuring the data output: Sensor response (example)....................................... 67
77. Parameters transmitted in the example................................................................... 67

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 LIST OF TABLES 9

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9 LIST OF TABLES

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 LIST OF TABLES 9

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8022708/1CFE/2021-08-10/en

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