TECHNICAL INFORMATION

Telegram Listing
Radar sensor RMS320
 Described product
RMS320
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
modification, expurgation 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.

2 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
CONTENTS

Contents

1 About this document ................................................................................ 4

2 Communication format ............................................................................ 5

2.1 Binary telegram (CoLa B) ............................................................................... 5
2.2 ASCII telegram (CoLa A) ................................................................................. 6
2.3 Variable types .................................................................................................. 7
2.4 Command basics ............................................................................................ 7
2.5 Log in: Required user level ............................................................................. 8

3 Workflows ................................................................................................... 9
3.1 Parameterize the devices............................................................................... 9

4 Telegrams ................................................................................................. 10
4.1 Basic Settings................................................................................................ 10
4.1.1 Set Access Mode (Log in) ........................................................... 10
4.1.2 Load factory defaults .................................................................. 11
4.1.3 Load application defaults........................................................... 12
4.1.4 Reboot device.............................................................................. 14
4.1.5 Save parameters permanently .................................................. 15
4.1.6 Set to run (Log out) ..................................................................... 16
4.2 Measurement output telegram ................................................................... 18
4.2.1 Enable/disable target data output in the data content ........... 18
4.2.2 Enable/disable object data output in the data content........... 19
4.2.3 Send data permanently .............................................................. 20
4.3 Status ............................................................................................................. 28
4.3.1 Read device ident ....................................................................... 28
4.3.2 Read device type......................................................................... 29
4.3.3 Read serial number .................................................................... 31
4.3.4 Read order number..................................................................... 32
4.4 Interfaces....................................................................................................... 34
4.4.1 Set IP address ............................................................................. 34
4.4.2 Read IP address .......................................................................... 35
4.4.3 Set Ethernet gateway ................................................................. 36
4.4.4 Read Ethernet gateway .............................................................. 37
4.4.5 Set IP mask ................................................................................. 38
4.4.6 Read IP mask .............................................................................. 40

5 List of tables ............................................................................................. 42

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 3

Subject to change without notice
TELEGRAM LISTING RMS320

1 About this document

Please read this chapter carefully before beginning to use the telegram listing.
The document shows how to send telegrams via a terminal program using the SICK
protocol CoLa A (ASCII and hexadecimal values, with TCP port 2111 or 2112) or CoLa B
(binary/hexadecimal values,) to RMS320. This comprises the query of the current
device state or certain parameter values, how to modify parameter values and the way
in which the device confirms or responds to commands/telegrams.
The devices generally support automatic IP address discovery. Default IP address is:
 RMS320: 192.168.0.1
Subnet mask is 255.255.255.0.
IP ports:
 2111: CoLa A (fixed)
 2112: CoLa A (can be switched to CoLa B)
Most parameter changes also require certain user levels. Additionally, commands may
change during the product lifecycle and development process with a new firmware.
This telegram listing is based on the following firmware statuses (or newer):
 RMS320(V1.2.0)
If commands do not seem to work, please verify that your device version supports this
functionality, that the minimum required user level has been selected and check on
updates of this documentation.

4 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

2 Communication format

2.1 Binary telegram (CoLa B)

The binary telegram is the basic protocol of the scanner (CoLa B). All values are in
hexadecimal code and grouped into pairs of two digits (= 1 byte). The string consists of
four parts: header, data length, data and checksum (CS).
The header indicates with 4 × STX (02 02 02 02) the start of the telegram.
The data length defines the size of the data part (command part) by indicating the num-
ber of digit pairs in the third part. The size of the data length itself is 4 bytes, which
means that the data part might have a maximum of 168 = 4,294,967,295 digit pairs.
The data part comprises the actual command with letters and characters converted to
Hex (according to the ASCII chart) and the parameters of either decimal numbers
converted to Hex or fixed Hex values with a specific, intrinsic meaning (no conversion).
There is always a blank (20) between the command and the parameters, but not
between the different parameter values.
The checksum finally serves to verify that the telegram has been transferred correctly.
The length of the checksum is 1 byte, CRC8. It is calculated with XOR.
Example: Binary telegram
02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4 72 47 44 B3
Header Length Data CS
Table 1: Example: Binary telegram

This is an example telegram for setting the user level “Authorized Client”:
 Header = 02 02 02 02
 Length = 23 digit pairs (17h)
 Data:
○ 73 4D 4E 20 = sMN = start of Sopas command (and blank)
○ 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 = Set Access Mode = the
actual command for setting the user level (and blank)
○ 03 = fixed Hex value meaning user level “Authorized Client”
○ F4 72 47 44 = fixed Hex value, serving as password for the selected user
level “Authorized Client”
 Checksum = B3 from XOR calculation

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 5

Subject to change without notice
TELEGRAM LISTING RMS320

2.2 ASCII telegram (CoLa A)

The ASCII telegram is an alternative to the binary telegram. Due to the variable string
length of ASCII telegrams, the Binary telegram is recommended when using scanners
with a PLC.
The ASCII telegram has the advantage that commands can be written in plaintext. The
string consists only of two parts: the framing and the data part.
The framing indicates with <STX> and <ETX> the start and stop of each telegram.
The data part comprises the actual command with letters and characters (plaintext),
parameter values either in decimal (special indicator required) or in hexadecimal (ex-
ample: a frequency of 25 Hz = +2500 (decimal) = 09C4 (Hex)) and fixed hexadecimal
values with a specific, intrinsic meaning. As leading zeros are being deleted, there is
always a blank required between all command parts and parameter parts.

NOTE
The device will comfirm parameter values always in hexadecimal code, regardless
of the code sent.

As further alternative within CoLa A, depending on the preferences of the user, all
values can be written directly in Hex. This means however a 1:1 conversion of all letters
and characters including numbers and fixed hexadecimal values via the ASCII chart.
Example: ASCII telegram
ASCII <STX> sMN{SPC}SetAccessMode{SPC}03{SPC}F4724744 <ETX>
Hex 02 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 30 33 20 46 34 37 32 34 37 34 34 03
Start Data Stop
Table 2: Example: ASCII telegram

This is again an example telegram for setting the user level “Authorized Client”. As only
fixed hexadecimal parameter values are needed, the option to use parameter values in
decimal code with special indicator cannot be applied here:
 Framing = <STX> = telegram start = 02 (Hex)
 Data:
○ sMN = start of Sopas command (and blank) = 73 4D 4E 20 (Hex)
○ SetAccessMode = the actual command for setting the user level (and blank)
= 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 (Hex)
○ 03 = fixed Hex value meaning user level “Authorized Client” (and blank) =
30 33 20 (Hex)
○ F4 72 47 44 = fixed Hex value, serving as password for the selected user
level “Authorized Client” = 46 34 37 32 34 37 34 34 (Hex)
 Framing = <ETX> = telegram stop = 03 (Hex)

6 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

2.3 Variable types

Variable type Length (byte) Value range Sign
Bool_1 1 0 or 1 No
Uint_8 1 0 … 255 No
Int_8 1 -128 … +127 Yes
Uint_16 2 0 … 65,535 No
Int_16 2 -32,768 … +32,767 Yes
Uint_32 4 0 … 4,294,967,295 No
Int_32 4 -2,147,483,648 … +2,147,483,647 Yes
Enum_8 1 Certain values defined in a list of No
Choices (0 … 255)
Enum_16 2 Certain values defined in a list of No
Choices (0 … 65535)
String Context- Strings are not terminated in zeroes
dependent
Real Float nach IEEE754 (see www.h-
schmidt.net/FloatConverter/IEEE754d
e.html)

Data length is always given in Bytes!

2.4 Command basics

Description Value ASCII Value Hex Value Binary
Start of text <STX> 02 02 02 02 02 + given length

End of text <ETX> 03 Calculated checksum

Read sRN 73 52 4E
Write sWN 73 57 4E
Method sMN 73 4D 4E
Event sEN 73 45 4E
Answer sRA 73 52 41
sWA 73 57 41
sAN 73 41 4E
sEA 73 45 41
sSN 73 53 4E
Space {SPC} 20 20

If values are divided into two parts (e.g. measurement data), they are documented
according to LSB 0 (e.g. 00 07), output however is according to MSB (e.g. 07 00).

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 7

Subject to change without notice
TELEGRAM LISTING RMS320

2.5 Log in: Required user level

Task Required user level
Change sensor parameters Authorized Client

Requests or queries None

(e.g. for measurement data or device state)
Manage password Service

8 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

3 Workflows

3.1 Parameterize the devices

1 Log in: sMN SetAccessMode (see 4.1.1, page10)
2 Configure output data contents: sWN TransmitTargets(see4.2.1, page18) and/or
sWN TransmitObjects(see4.2.2, page19)
3 Store parameters: sMN mEEwriteall (see 4.1.5, page 15)
4 Log out: sMN Run (see 4.1.6, page 16)
5 Request scan:
sEN LMDradardata (see 4.2.3, page 20)
(Device output …)
More detailed command descriptions can be found in the following part of this
document.

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 9

Subject to change without notice
TELEGRAM LISTING RMS320

4 Telegrams

4.1 Basic Settings

4.1.1 Set Access Mode (Log in)

Telegram structure: sMN SetAccessMode

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Method String 3 All sMN 73 4D 4E
type
Command User level String 13 All SetAccessMode 53 65 74 41 63 63 65 73
73 4D 6F 64 65
User level Select user level Int_8 1 All Maintenance: 02 Maintenance: 02
Authorized client: 03 Authorized client: 03
Service: 04 Service: 04
Password Hash value for the Uint_32 4 All Maintenance: B21ACE26 Maintenance: B2 1A CE 26
selected user level Authorized client: Authorized client:
F4724744 F4 72 47 44
Service: 81BE23AA Service: 81 BE 23 AA
Table 3: Telegram structure: sMN SetAccessMode

Example: sMN SetAccessMode

Log in as “Authorized client” with password “F4724744”.
ASCII <STX>sMN{SPC}SetAccessMode{SPC}03{SPC}F4724744<ETX>
CoLa A

Hex 02 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 30 33 20 46 34 37 32 34 37 34 34 03

Binary 02 02 02 02 00 00 00 17 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 03 F4 72 47 44 B3
CoLa B

Table 4: Example: sMN SetAccessMode

10 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sAN SetAccessMode

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sAN 73 41 4E
type
Command User level String 13 All SetAccessMode 53 65 74 41 63 63 65 73
73 4D 6F 64 65
Change Changed level Bool_1 1 All Error: 0 Error: 00
user level Success: 1 Success: 01
Table 5: Telegram structure: sAN SetAccessMode

Example for RMS320: sAN SetAccessMode

ASCII <STX>sAN{SPC}SetAccessMode{SPC}1<ETX>
CoLa A

Hex 02 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 31 03

Binary 02 02 02 02 00 00 00 13 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 01 38
CoLa B

Table 6: Example: sAN SetAccessMode

4.1.2 Load factory defaults

NOTE
The Factory-Reset (Load factory defaults) deletes the entire
parametrization of the device.All parameters, settings and system
applications will be set to default.

Telegram structure: sMN mSCloadfacdef

(Authorized client)
Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Method String 3 All sMN Not possible
type
Command Load factory String 13 All mSCloadfacdef Not possible
defaults
Table 7: Telegram structure: sMN mSCloadfacdef

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 11

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sMN mSCloadfacdef

ASCII <STX>sMN{SPC}mSCloadfacdef<ETX>
CoLa A

Hex 02 73 4D 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 03

Binary Not possible

CoLa B

Table 8: Example: sMN mSCloadfacdef

Telegram structure: sAN mSCloadfacdef

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sAN Not possible
type
Command Load factory String 13 All mSCloadfacdef Not possible
defaults
Table 9: Telegram structure: sAN mSCloadfacdef

Example: sAN mSCloadfacdef

ASCII <STX>sAN{SPC}mSCloadfacdef<ETX>
CoLa A

Hex 02 73 41 4E 20 6D 53 43 6C 6F 61 64 66 61 63 64 65 66 03

Binary Not possible

CoLa B

Table 10: Example: sAN mSCloadfacdef

4.1.3 Load application defaults

NOTE
The Application-Reset (Load application defaults) deletes all the user
parametrization. Other parameters like Interface settings remain
unaffected.

12 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sMN mSCloadappdef

(Authorized client)
Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Method String 3 All sMN Not possible
type
Command Load application String 13 All mSCloadappdef Not possible
defaults
Table 11: Telegram structure: sMN mSCloadappdef

Example: sMN mSCloadappdef

ASCII <STX>sMN{SPC}mSCloadappdef<ETX>
CoLa A

Hex 02 73 4D 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03

Binary Not possible

CoLa B

Table 12: Example: sMN mSCloadappdef

Telegram structure: sAN mSCloadappdef

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sAN Not possible
type
Command Load application String 13 All mSCloadappdef Not possible
defaults
Table 13: Telegram structure: sAN mSCloadappdef

Example: sAN mSCloadappdef

ASCII <STX>sAN{SPC}mSCloadappdef<ETX>
CoLa A

Hex 02 73 41 4E 20 6D 53 43 6C 6F 61 64 61 70 70 64 65 66 03

Binary Not possible

CoLa B

Table 14: Example: sAN mSCloadappdef

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 13

Subject to change without notice
TELEGRAM LISTING RMS320

4.1.4 Reboot device

This command includes saving all parameters.

Telegram structure: sMN mSCreboot

(Authorized client)
Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Method String 3 All sMN 73 4D 4E
type
Command Reboot device String 9 All mSCreboot 6D 53 43 72 65 62 6F 6F
74
Table 15: Telegram structure: sMN mSCreboot

Example: sMN mSCreboot

ASCII <STX>sMN{SPC}mSCreboot<ETX>
CoLa A

Hex 02 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 03

Binary 02 02 02 02 00 00 00 0D 73 4D 4E 20 6D 53 43 72 65 62 6F 6F 74 2C
CoLa B

Table 16: Example: sMN mSCreboot

Telegram structure: sAN mSCreboot

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sAN 73 41 4E
type
Command Reboot device String 9 All mSCreboot 6D 53 43 72 65 62 6F 6F
74
Table 17: Telegram structure: sAN mSCreboot

14 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sAN mSCreboot

ASCII <STX>sAN{SPC}mSCreboot<ETX>
CoLa A

Hex 02 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 03

Binary 02 02 02 02 00 00 00 0E 73 41 4E 20 6D 53 43 72 65 62 6F 6F 74 00
CoLa B

Table 18: Example: sAN mSCreboot

4.1.5 Save parameters permanently

Telegram structure: sMN mEEwriteall

(Authorized client)
Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Method String 3 All sMN 73 4D 4E
type
Command Store parameters String 11 All mEEwriteall 6D 45 45 77 72 69 74 65
permanently 61 6C 6C
Table 19: Telegram structure: sMN mEEwriteall

Example: sMN mEEwriteall

ASCII <STX>sMN{SPC}mEEwriteall<ETX>
CoLa A

Hex 02 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 03

Binary 02 02 02 02 00 00 00 0F 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 21
CoLa B

Table 20: Example: sMN mEEwriteall

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 15

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sAN mEEwriteall

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sAN 73 41 4E
type
Command Store parameters String 11 All mEEwriteall 6D 45 45 77 72 69 74 65
permanently 61 6C 6C
Status Accepted when Bool_1 1 All Error: 0 Error: 00
code value is 1
Success: 1 Success: 01
Table 21: Telegram structure: sAN mEEwriteall

Example: sAN mEEwriteall

ASCII <STX>sAN{SPC}mEEwriteall{SPC}1<ETX>
CoLa A

Hex 02 73 41 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 20 31 03

Binary 02 02 02 02 00 00 00 11 73 41 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 20 01 0C
CoLa B

Table 22: Example: sAN mEEwriteall

4.1.6 Set to run (Log out)

Telegram structure: sMN Run

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Method String 3 All sMN 73 4D 4E
type
Command Start the device String 3 All Run 52 75 6E
Table 23: Telegram structure: sMN Run

16 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sMN Run

ASCII <STX>sMN{SPC}Run<ETX>
CoLa A

Hex 02 73 4D 4E 20 52 75 6E 03

Binary 02 02 02 02 00 00 00 07 73 4D 4E 20 52 75 6E 19
CoLa B

Table 24: Example: sMN Run

Telegram structure: sAN Run

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sAN 73 41 4E
type
Command Start the device String 3 All Run 52 75 6E
Status Accepted when Bool_1 1 All Error: 0 Error: 00
code value is 1
Success: 1 Success: 01
Table 25: Telegram structure: sAN Run

Example: sAN Run

ASCII <STX>sAN{SPC}Run{SPC}1<ETX>
CoLa A

Hex 02 73 41 4E 20 52 75 6E 20 31 03

Binary 02 02 02 02 00 00 00 09 73 41 4E 20 52 75 6E 20 01 34
CoLa B

Table 26: Example: sAN Run

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 17

Subject to change without notice
TELEGRAM LISTING RMS320

4.2 Measurement output telegram

4.2.1 Enable/disable target data output in the data content

Telegram structure: sWN TransmitTargets

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Event String 3 All sWN 73 57 4E
type
Command Data telegram String 11 All TransmitTargets 54 72 61 6E 73 6D 69 74
54 61 72 67 65 74 73
Measure- Start/stop Enum_8 1 All Stop: 0 Stop: 00
ment
Start: 1 Start: 01
Table 27: Telegram structure: sWN TransmitTargets

Example: sWN TransmitTargets

ASCII <STX>sWN{SPC}TransmitTargets{SPC}1<ETX>
CoLa A

Hex 02 73 57 4E 20 54 72 61 6E 73 6D 69 74 54 61 72 67 65 74 73 20 31 03

Binary 02 02 02 02 00 00 00 15 73 57 4E 20 54 72 61 6E 73 6D 69 74 54 61 72 67 65 74 73 20 01 03
CoLa B

Table 28: Example: sWN TransmitTargets

Telegram structure: sWA TransmitTargets

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sWA 73 57 41
type
Command Data telegram String 11 All TransmitTargets 54 72 61 6E 73 6D 69 74
54 61 72 67 65 74 73
Table 29: Telegram structure: sWA TransmitTargets

Example: Confirmation of sWA TransmitTargets

ASCII <STX>sWA{SPC}TransmitTargets<ETX>
CoLa A

Hex 02 73 57 41 20 54 72 61 6E 73 6D 69 74 54 61 72 67 65 74 73 03

18 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Binary 02 02 02 02 00 00 00 14 73 57 41 20 54 72 61 6E 73 6D 69 74 54 61 72 67 65 74 73 20 0D
CoLa B

Table 30: Example: Confirmation of sWA TransmitTargets

4.2.2 Enable/disable object data output in the data content

Telegram structure: sWN TransmitObjects

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Event String 3 All sWN 73 57 4E
type
Command Data telegram String 11 All TransmitObjects 54 72 61 6E 73 6D 69 74
4F 62 6A 65 63 74 73
Measure- Start/stop Enum_8 1 All Stop: 0 Stop: 00
ment
Start: 1 Start: 01
Table 31: Telegram structure: sWN TransmitObjects

Example: sWN TransmitObjects

ASCII <STX>sWN{SPC}TransmitObjects{SPC}1<ETX>
CoLa A

Hex 02 73 57 4E 20 54 72 61 6E 73 6D 69 74 54 61 72 67 65 74 73 20 31 03

Binary 02 02 02 02 00 00 00 15 73 57 4E 20 54 72 61 6E 73 6D 69 74 4F 62 6A 65 63 74 73 20 01 07
CoLa B

Table 32: Example: sWN TransmitObjects

Telegram structure: sEA TransmitObjects

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sWA 73 57 41
type
Command Data telegram String 11 All TransmitObjects 54 72 61 6E 73 6D 69 74
4F 62 6A 65 63 74 73
Table 33: Telegram structure: sWA TransmitObjects

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 19

Subject to change without notice
TELEGRAM LISTING RMS320

Example: Confirmation of sWA TransmitObjects

ASCII <STX>sWA{SPC}TransmitObjects<ETX>
CoLa A

Hex 02 73 57 41 20 54 72 61 6E 73 6D 69 74 4F 62 6A 65 63 74 73 03

Binary 02 02 02 02 00 00 00 14 73 57 41 20 54 72 61 6E 73 6D 69 74 4F 62 6A 65 63 74 73 20 09
CoLa B

Table 34: Example: Confirmation of sWA TransmitObjects

4.2.3 Send data permanently

NOTE
After changing the parameters, there will be no data telegram or answer
from the devices for up to 30 seconds.The same applies when the device
is powering up or rebooting.

Telegram structure: sEN LMDradardata

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Event String 3 All sEN 73 45 4E
type
Command Data telegram String 11 All LMDradardata 4C 4D 44 72 61 64 61 72
64 61 74 61
Measure- Start/stop Enum_8 1 All Stop: 0 Stop: 00
ment
Start: 1 Start: 01
Table 35: Telegram structure: sEN LMDradardata

Example: sEN LMDradardata

ASCII <STX>sEN{SPC}LMDradardata{SPC}1<ETX>
CoLa A

Hex 02 73 45 4E 20 4C 4D 44 72 61 64 61 72 64 61 74 61 20 31 03

Binary 02 02 02 02 00 00 00 12 73 45 4E 20 4C 4D 44 72 61 64 61 72 64 61 74 61 20 01 48
CoLa B

Table 36: Example: sEN LMDradardata

20 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sEA LMDradardata

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sEA 73 45 41
type
Command Data telegram String 11 All LMDradardata 4C 4D 44 72 61 64 61 72
64 61 74 61
Measure- Start/stop Enum_8 1 All Stop: 0 Stop: 00
ment
Start: 1 Start: 01
Table 37: Telegram structure: sEA LMDradardata

Example: Confirmation of sEA LMDradardata

ASCII <STX>sEA{SPC}LMDradardata{SPC}1<ETX>
CoLa A

Hex 02 73 45 41 20 4C 4D 44 72 61 64 61 72 64 61 74 61 20 31 03

Binary 02 02 02 02 00 00 00 12 73 45 41 20 4C 4D 44 72 61 64 61 72 64 61 74 61 20 01 47
CoLa B

Table 38: Example: Confirmation of sEA LMDradardata

Telegram stream
The answer to the telegram will be followed by the LMDradardata:
NOTE
Leading zeros of a value will not be displayed in ASCII.
Telegram structure: sSN LMDradardata
Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
/Data
Command Read String 3 All sSN 73 53 4E
type
Command Data telegram String 11 RMS320 LMDradardata 4C 4D 44 73 63 61 6E 64
61 74 61
Version For detecting for- Uint_16 2 All 0000h … FFFFh 00 00 … FF FF
number mat changes by
the version. Ver-
sion is always 1
up to now.
Device Defined with Uint_16 2 All 0000h … FFFFh 00 00 … FF FF
number SOPAS
Device

Serial Defined in factory Uint_32 4 All 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF FF

number
BC614Eh: 12345678d

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 21

Subject to change without notice
TELEGRAM LISTING RMS320

Device (See values Uint_8 2×1 All Ok: 00 00 00 00

status column)
Error: 00 01 00 01

Telegram Number of Uint_16 2 All 0000h … FFFFh 00 00 … FF FF

counter measurement
telegrams
finished in the
scanner and
given to the
interface. 1)
Scan Number of scans Uint_16 2 All 0000h … FFFFh 00 00 … FF FF
counter which were crea-
ted in the device;
counts how many
scans were really
done.
Time Counting the time Uint_32 4 All 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF FF
since since power up
start up the device; start-
in µs ing with 0
Time of Time in µs when Uint_32 4 All 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF FF
transmis- the complete
sion in scan is
µs transmitted to
Status info

the buffer for

data output;
starting with 0 at
scanner bootup.
Status of Low byte Uint_8 2×1 All All inputs low: 00 00 00 00
digital in- represents input
puts 1. All inputs high: 00 FF 00 FF

Always 00 00 00 00
Status of Low byte repre- Uint_8 2×1 All All outputs low: 00 00 All outputs low: 00 00
digital sents output 1.
outputs All outputs high: 00 FF All outputs high: 00 FF

Always 00 00

CycleDur Actual radar Uint_16 2 RMS320 Example: Example:

ation measurement
cycles time B400 B4 00
including Decimal:
detection and
tracking, <= 46080 microsecond
50ms

1) Does not count how many telegrams were really given out; is relevant if not all scans are delivered from the scan core.

22 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Reserved Reserved Uint_16 2 RMS320

Amount of Enum_16 2 RMS320 0…3 00 … 03
encoder always
1(FW If 0, then next two values
(Not in use) V1.2.0) are missing.
Encoder Info in ticks Uint_32 4 RMS320 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF FF
position always
(Not in 0(FW
use) V1.2.0)
Values

Encoder Ticks/mm Uint_16 2 RMS320 0000h … FFFFh 00 00 … FF FF

speed always
(Not in 0(FW
use) V1.2.0)

RMS320 Target data (16 bit and 8 bit) will be sent in one telegram. (from “sSN LMDradardata” to the end)

RMS320 Object data (16 bit and 8 bit) will be sent in one telegram. (from “sSN LMDradardata” to the end)

The differences are maily in 16 bit channels, 8 bit channels and the corresponding scale factors and offsets.

For RMS320 Target data:

16 bit channels:
o DIST1: Radial distance (unit: mm)
o AZMT1: Azimuth angle (unit: °)
o VRAD1: Radial speed (unit: m/s)
o AMPL1: Amplitude (unit: dB)
8 bit channel:
o MODE1:Internal usage only
For RMS320 Object data:
16 bit channels:
o P3DX1:Distance at x-direction (unit: mm)
o P3DY1: Distance at y-direction (unit: mm)
o V3DX1: Speed, x-direction (unit: m/s)
o V3DY1:Speed, y-direction (unit: m/s)
o OBLE1: Internal usage only
8 bit channel:

o OBID1: Object ID
If neither Target data nor Object data are selected, the output format will be only the part without 16 bit channel and 8 bit
channel per every 250ms. (header+ending per 250 ms as “heartbeat”)

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 23

Subject to change without notice
TELEGRAM LISTING RMS320

Amount of Number of 16 bit Uint_16 2 RMS320 Target channels:0..4 Target channels:0..4

16 bit channels that
channels provide Object channels: 0..5 Object channels: 0..5
measured data

Content Defines the con- String 5 RMS320 DIST1: Radial distance 44 49 53 54 31

tent of the output Target
channel
(If Target 41 5A 4D 54 31
Unit of radial data are AZMT1: Azimuth angle
distance values sent, this
(DIST1) is mm part 56 52 41 44 31
contains VRAD1: Radial speed
only 41 4D 50 4C 31
Target
data. AMPL1: Amplitude
Object
data are
in
another
telegram)

Or,RMS3 P3DX1:Distance at x- 50 33 44 58 31
Output channel (16 bit)

20 Object direction
50 33 44 59 31
(If Object P3DY1: Distance at y-
data are direction 56 33 44 58 31
sent, this 56 33 44 59 31
part V3DX1: Speed, x-direction
contains V3DY1: Speed, y-direction 4F 42 4C 45 31
only Objct
data. OBLE1: Internal usage only
Object
data are
sent in
another
telegram)

Scale Scale factor or Real 4 RMS320 DIST1: 42 20 00 00

factor factor of the as float
measurement according (Target) 42200000f =40d 3C 23 D7 0A
values to AZMT1: 3C 23 D7 0A
IEEE754
3C23D70Af=0.01d 3D CC CC CD
VRAD1:
3C23D70Af=0.01d
AMPL1: 3DCCCCCDf=0.1d

24 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
 TELEGRAM LISTING RMS320

Or, P3DX1: 41 80 00 00
RMS320 41800000f=16d 41 80 00 00
(Object) P3DY1: 3D CC CC CD
41800000f=16d 3D CC CC CD
V3DX1: 3C 23 D7 0A
3DCCCCCDf=0.1d
V3DY1:
3DCCCCCDf=0.1d
OBLE1: 3C23D70Af=0.01d
Scale Sets starting Real 4 RMS320 Always 0 00 00 00 00
factor point of as float
offset measurement according
to
IEEE754
Amount Defines the num- Uint_16 2 RMS320 0000h … 0040h 00 00 … FF FF
of data ber of items on
measured output 0d..64d

Data_1 Data stream Int_16 2 RMS320 0000h … FFFFh 00 00 00 00 … 00 00 4E 20

starting Data_1
Data_n to Data_n

Amount Amount of 8 bit Enum_16 2 RMS320 Output channels: 0 or 1 Output channels: 00 or 01

of 8 bit channels, giving out
channels the measured data

Con- Defines the content String 5 RMS320 MODE1: Internal usage only 4D 4F 44 45 31
Output channel (8

tent of the output

channel Target
5 Or, OBID1 :Object ID 4F 42 49 44 31
bit)

RMS320
Object

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 25

Subject to change without notice
TELEGRAM LISTING RMS320

Scale Scale factor or of the Real 4 RMS320 MODE1:3F800000h=1d 3F 80 00 00

factor measurement as float
values according Target
to Or, OBID1:3F800000h=1d
IEEE754
RMS320
Object
Scale Sets starting point of Real 4 RMS320 00000000h 00 00 00 00
factor measurement as float
offset according
to
IEEE754

Amou Amount Uint_16 2 RMS320 0000h … FFFFh 00 00 … FF FF

nt of
data
Data_ Data stream starting Uint_8 1 RMS320 00h … FFh 00 … FF
1 Data_1 to Data_n
Data_
n
Position Output of position Enum_16 2 All No position data: 0 No position data: 00 00
data
Position data: 1 Position data: 00 01
X X-coordinate as float Real 4 All 0h … FFFFFFFFh 00 00 00 00 … FF FF FF FF
posi- acco. to IEEE754
tion
Position information

Y posi- Y-coordinate as float Real 4 All 0h … FFFFFFFFh 00 00 00 00 … FF FF FF FF

tion acco. to IEEE754
Z Z-coordinate as float Real 4 All 0h … FFFFFFFFh 00 00 00 00 … FF FF FF FF
posi- acco. to IEEE754
tion
X rota- X rotation in the Real 4 All 0h … FFFFFFFFh 00 00 00 00 … FF FF FF FF
tion coordinate system

26 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Y rota- Y rotation in the Real 4 All 0h … FFFFFFFFh 00 00 00 00 … FF FF FF FF

tion coordinate system
Z rota- Z rotation in the Real 4 All 0h … FFFFFFFFh 00 00 00 00 … FF FF FF FF
tion coordinate system
Rota- Kind of rotation Enum_8 1 All No rotation: 0 No rotation: 00
tions
type Pitch: 1 Pitch: 01
Roll: 2 Roll: 02
Free: 3 Free: 03
Trans- Device name Uint_8 1 All No name: 0 No name: 00
mits
the Name: 1 Name: 01
name
of de-
vice
Name Device name Uint_16 2 All No name: 0 No name: 00 00
Name: 1 Name: 00 01
Length Length of name Uint_8 1 All 0h … Fh 00 … 0F
information
Name

Name Device name in String 16 All 20h … 7Ah 20 … 7A

characters
Comment Comment Uint_16 2 All No comment: 0 No comment: 00 00
Comment: 1 Comment: 00 01
Length Length of comment Uint_8 1 All 0h … Fh 00 … 0F
information
Comment

Com- Transmits a String 16 All 20h … 7Ah 20 … 7A

ment comment in
characters
Time Transmits a time Uint_16 2 All No time: 0 No time: 00 00
stamp
Time: 1 Time: 00 01
Year Uint_16 2 All 0000h … 270Fh 00 00 … 27 0F
Month 1 to 12 Uint_8 1 All 00h … 0Ch 00 … 0C
Day Day of month 1 to Uint_8 1 All 00h … 1Fh 00 … 1F
31
Hour 0 to 23 Uint_8 1 All 00h … 17h 00 … 17
Time info

Min- 0 to 59 Uint_8 1 All 00h … 3Bh 00 … 3B

ute
Sec- 0 to 59 Uint_8 1 All 00h … 3Bh 00 … 3B
ond
Micro- 0 to 999999 Uint_32 4 All 00000000h … 000F423Fh 00 00 00 00 … 00 0F 42 3F
sec-
ond
Event info Display event info Uint_16 2 All No info: 0 No info: 00 00
Transmit info: 1 Transmit info: 00 01
Type Fast digital input String 4 All FDIN FDIN
Information

Encod Position of encoder Uint_32 4 All 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF FF

Event

er when event
posi- happened
tion

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 27

Subject to change without notice
TELEGRAM LISTING RMS320

Time Time (µs) of encoder Uint_32 4 All 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF FF

of when event
event happened
Angle Angle of encoder Int_32 4 All 0 … 3600000 00 00 00 00 …
of when event 00 36 EE 80
event happened

Table 39: Telegram structure: Datastream of sSN LMDradardata

NOTE
 The grey written parts are not given out by the sensor.

4.3 Status

4.3.1 Read device ident

Telegram structure: sRN DeviceIdent

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Read String 3 All sRN 73 52 4E
type
Command Read ident String 11 All DeviceIdent 44 65 76 69 63 65 49 64
65 6E 74
Table 40: Telegram structure: sRN DeviceIdent

Example: sRN DeviceIdent

ASCII <STX>sRN{SPC}DeviceIdent<ETX>
CoLa A

Hex 02 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 03

Binary 02 02 02 02 00 00 00 0F 73 52 4E 20 44 65 76 69 63 65 49 64 65 6E 74 25
CoLa B

Table 41: Example: sRN DeviceIdent

28 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sRA DeviceIdent

Telegram part Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
Command type Answer String 3 All sRA 73 52 41
Command Start the device String 11 All DeviceIdent 44 65 76 69 63 65 49 64
65 6E 74
Value Length of ident Enum_16 1 All 0 … 22h 0 … 22h
Value Ident information String All (See example) (See example)
Value Length of version Enum_16 1 All 0 … 22h 0 … 22h
Value Version information String All (See example) (See example)
Table 42: Telegram structure: sRA DeviceIdent

Example: sRA DeviceIdent

ASCII <STX>sRA{SPC}DeviceIdent{SPC}6{SPC}RMS3xx{SPC}A{SPC}1.2.0.268R<ETX>
CoLa A

Hex Always ASCII answer

Binary 02 02 02 02 00 00 00 24 73 52 41 20 44 65 76 69 63 65 49 64 65 6E 74 20 00 06 52 4D 53 33 78 78
CoLa B

00 0A 31 2E 32 2E 30 2E 32 36 38 52 0A

Table 43: Example: sRA DeviceIdent

4.3.2 Read device type

This telegram asks for the device type.

Telegram structure: sRN DItype

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Read String 3 All sRN 73 52 4E
type
Command Ask state String 6 All DItype 44 49 74 79 70 65
Table 44: Telegram structure: sRN DItype

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 29

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sRN DItype

ASCII <STX>sRN{SPC}DItype<ETX>
CoLa A

Hex 02 73 52 4E 20 44 49 74 79 70 65 03

Binary 02 02 02 02 00 00 00 0A 73 52 4E 20 44 49 74 79 70 65 5A
CoLa B

Table 45: Example: sRN DItype

Telegram structure: sRA DItype

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sRA 73 52 41
type
Command Ask state String 6 All DItype 44 49 74 79 70 65
Length of Number of digits of Uint_8 1 All 0d … 255d (0h … FF) 00 … FF
type key the following type
code length
Device type Type code of the String (var.) All (Device type) (Device type)
device
Table 46: Telegram structure: sRA DItype

Example for RMS320

ASCII <STX>sRA{SPC}DItype{SPC}D{SPC}RMS320-343300<ETX>
CoLa A

Hex 02 73 52 41 20 44 49 74 79 70 65 20 44 20 52 4D 53 33 32 30 2D 33 34 33 33 30 30 03

Binary 02 02 02 02 00 00 00 1A 73 52 41 20 44 49 74 79 70 65 20 00 0D 52 4D 53 33 32 30 2D 33 34 33 33
CoLa B

30 30 2F

Table 47: Example for sRA DItype

30 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

4.3.3 Read serial number

Telegram structure: sRN SerialNumber

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Read String 3 All sRN 73 52 4E
type
Command Read Serial Number String 12 All SerialNumber 53 65 72 69 61 6C 4E 75
6D 62 65 72
Table 48: Telegram structure: sRN SerialNumber

Example: sRN SerialNumber

ASCII <STX>sRN{SPC}SerialNumber<ETX>
CoLa A

Hex 02 73 52 4E 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 03

Binary 02 02 02 02 00 00 00 10 73 52 4E 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 4C
CoLa B

Table 49: Example: sRN SerialNumber

Telegram structure: sRA SerialNumber

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sRA 73 52 41
type
Command Read device name String 12 All SerialNumber 53 65 72 69 61 6C 4E 75
6D 62 65 72
Value Number of digits of Uint_8 1 All 0d … 255d (0h … FF) 00 … FF
the following serial
number length
Value SerialNumber String max16 All (Serial Number) (SerialNumber)
Table 50: Telegram structure: sRA SerialNumber

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 31

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sRA SerialNumber

ASCII <STX>sRA{SPC} SerialNumber {SPC}8 {SPC}12345678<ETX>
CoLa A

Hex 02 73 52 41 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 20 38 20 31 32 33 34 35 36 37 38 03

Binary 02 02 02 02 00 00 00 1B 73 52 41 20 53 65 72 69 61 6C 4E 75 6D 62 65 72 20 00 08 31 32 33 34 35
CoLa B

36 37 38 63

Table 51: Example: sRA SerialNumber

4.3.4 Read order number

This telegram reads the device order number.

Telegram structure: sRN OrdNum

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Read String 3 All sRN 73 52 4E
type
Command Read state String 6 All OrdNum 4F 72 64 4E 75 6D
Table 52: Telegram structure: sRN OrdNum

Example: sRN OrdNum

ASCII <STX>sRN{SPC}OrdNum<ETX>
CoLa A

Hex 02 73 52 4E 20 4F 72 64 4E 75 6D 03

Binary 02 02 02 02 00 00 00 0A 73 52 4E 20 4F 72 64 4E 75 6D 40
CoLa B

Table 53: Example: sRN OrdNum

32 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sRA OrdNum

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sRA 73 52 41
type
Command Read state String 6 All OrdNum 4F 72 64 4E 75 6D
Value Number of digits of Uint_8 1 All 0d … 255d (0h … FF) 00 … FF
the following order
number length
Order Order number String max16 All 0000000 … 9999999 00 00 00 00 00 00 00 …
number FF FF FF FF FF FF FF
Table 54: Telegram structure: sRA OrdNum

Example: sRA OrdNum 1234567 (Order Number for 1234567)

ASCII <STX>sRA{SPC}OrdNum{SPC}7{SPC}1234567<ETX>
CoLa A

Hex 02 73 52 41 20 4F 72 64 4E 75 6D 20 37 20 31 32 33 34 35 36 37 03

Binary 02 02 02 02 00 00 00 14 73 52 41 20 4F 72 64 4E 75 6D 20 00 07 31 32 33 34 35 36 37 58
CoLa B

Table 55: Example for sRA OrdNum

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 33

Subject to change without notice
TELEGRAM LISTING RMS320

4.4 Interfaces

4.4.1 Set IP address

IMPORTANT
 Save permanently to set values. Changes will be active after rebooting the device.
 Settings must correspond with network in which scanner is used. Else device
cannot be found any more.

Telegram structure: sWN EIIpAddr

(Authorized client)
Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Write String 3 All sWN 73 57 4E
type
Command Set IP address String 8 All EIIpAddr 45 49 49 50 41 64 64 72
IP address Set values in hex Uint_32 4 All 00 00 00 00h … 00 00 00 00 …
FF FF FF FFh FF FF FF FF
(decimal values unwieldy)
Table 56: Telegram structure: sWN EIIpAddr

Example: sWN EIIpAddr 192.168.0.2

ASCII <STX>sWN{SPC}EIIpAddr{SPC}C0{SPC}A8{SPC}0{SPC}2<ETX>
CoLa A

Hex 02 73 57 4E 20 45 49 49 70 41 64 64 72 20 43 30 20 41 38 20 30 20 32 03

Binary 02 02 02 02 00 00 00 11 73 57 4E 20 45 49 49 70 41 64 64 72 20 C0 A8 00 02 06
CoLa B

Table 57: Example: sWN EIIpAddr 192.168.0.2

Telegram structure: sWA EIIpAddr

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sWA 73 57 41
type
Command Set IP address String 8 All EIIpAddr 45 49 49 50 41 64 64 72
Table 58: Telegram structure: sWA EIIpAddr

34 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sWA EIIpAddr

ASCII <STX>sWA{SPC}EIIpAddr<ETX>
CoLa A

Hex 02 73 57 41 20 45 49 49 70 41 64 64 72 03

Binary 02 02 02 02 00 00 00 0D 73 57 41 20 45 49 49 70 41 64 64 72 20 63
CoLa B

Table 59: Example: sWA EIIpAddr

4.4.2 Read IP address

Telegram structure: sRN EIIpAddr

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Read String 3 All sRN 73 52 4E
type
Command Read IP address String 8 All EIIpAddr 45 49 49 50 41 64 64 72
Table 60: Telegram structure: sRN EIIpAddr

Example: srN EIIpAddr

ASCII <STX>sRN{SPC}EIIpAddr<ETX>
CoLa A

Hex 02 73 57 4E 20 45 49 49 70 41 64 64 72 03

Binary 02 02 02 02 00 00 00 0C 73 52 4E 20 45 49 49 70 41 64 64 72 49
CoLa B

Table 61: Example: srN EIIpAddr

Telegram structure: sRA EIIpAddr

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sRA 73 52 41
type
Command Set IP address String 8 All EIIpAddr 45 49 49 50 41 64 64 72
IP address Set values in hex Uint_32 4 All 00 00 00 00h … 00 00 00 00 …
FF FF FF FFh FF FF FF FF
(decimal values unwieldy)
Table 62: Telegram structure: sRA EIIpAddr

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 35

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sRA EIIpAddr 192.168.0.2

ASCII <STX>sRA{SPC}EIIpAddr{SPC}C0{SPC}A8{SPC}00{SPC}02<ETX>
CoLa A

Hex 02 73 57 41 20 45 49 49 70 41 64 64 72 03

Binary 02 02 02 02 00 00 00 11 73 52 41 20 45 49 49 70 41 64 64 72 20 C0 A8 00 02 0C
CoLa B

Table 63: Example: sRA EIIpAddr 192.168.0.2

4.4.3 Set Ethernet gateway

Change Ethernet gateway IP address (TCP/IP)

IMPORTANT
 Save permanently to set values. Changes will be active after rebooting the device.
 Settings must correspond with network in which scanner is used. Else device
cannot be found any more.

Telegram structure: sWN EIgate

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Write String 3 All sWN 73 57 4E
type
Command Set gateway adress String 6 All EIgate 45 49 67 61 74 65
Gateway Set values in hex Uint_32 4 All 00 00 00 00h … 00 00 00 00 …
address FF FF FF FFh FF FF FF FF
(decimal values unwieldy)
Table 64: Telegram structure: sWN Elgate

Example: sWN EIgate 192.168.0.1

ASCII <STX>sWN{SPC}EIgate{SPC}C0{SPC}A8{SPC}00{SPC}01<ETX>
CoLa A

Hex 02 73 57 4E 20 45 49 67 61 74 65 20 43 30 20 41 38 20 30 30 20 30 31 03

Binary 02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 67 61 74 65 20 C0 A8 00 01 18
CoLa B

Table 65: Example: sWN EIgate 192.168.0.1

36 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sWA EIgate

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sWA 73 57 41
type
Command Set gateway address String 6 All EIgate 45 49 67 61 74 65
Table 66: Telegram structure: sWA Elgate

Example: sWA EIgate

ASCII <STX>sWA{SPC}EIgate<ETX>
CoLa A

Hex 02 73 57 41 20 45 49 67 61 74 65 03

Binary 02 02 02 02 00 00 00 0A 73 57 41 20 45 49 67 61 74 65 20 7E
CoLa B

Table 67: Example: sWA EIgate

4.4.4 Read Ethernet gateway

Read for the Ethernet gateway (TCP/IP)

Telegram structure: sRN Elgate

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Read String 3 All sRN 73 52 4E
type
Command Read gateway String 6 All EIgate 45 49 67 61 74 65
address
Table 68: Telegram structure: sRN Elgate

Example: sRN EIgate

ASCII <STX>sRN{SPC}EIgate<ETX>
CoLa A

Hex 02 73 52 4E 20 45 49 67 61 74 65 03

Binary 02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 67 61 74 65 54
CoLa B

Table 69: Example: sRN EIgate

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 37

Subject to change without notice
TELEGRAM LISTING RMS320

Telegram structure: sRA EIgate

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sRA 73 52 41
type
Command Read gateway String 6 All EIgate 45 49 67 61 74 65
address
Gateway Values in hex Uint_32 4 All 00 00 00 00h … 00 00 00 00 …
address FF FF FF FFh FF FF FF FF
(decimal values unwieldy)
Table 70: Telegram structure: sRA Elgate

Example: sRA EIgate 192.168.0.1

ASCII <STX>sRA{SPC}EIgate{SPC}C0{SPC}A8{SPC}00{SPC}01<ETX>
CoLa A

Hex 02 73 52 41 20 45 49 67 61 74 65 20 C0 A8 00 01 03

Binary 02 02 02 02 00 00 00 0F 73 52 41 20 45 49 67 61 74 65 20 C0 A8 00 01 12
CoLa B

Table 71: Example: sRA EIgate 192.168.0.1

4.4.5 Set IP mask

IMPORTANT
 Save permanently to set values. Changes will be active after rebooting the device.
 Settings must correspond with network in which scanner is used. Else device
cannot be found any more.

Telegram structure: sWN EImask

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Write String 3 All sWN 73 57 4E
type
Command Set IP mask String 6 All EImask 45 49 6D 61 73 6B
IP mask Set values in hex Uint_32 4 All 00 00 00 00h … 00 00 00 00 …
FF FF FF FFh FF FF FF FF
(decimal values unwieldy)
Table 72: Telegram structure: sWN EImask

38 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sWN EImask 255.255.254.0

ASCII <STX>sWN{SPC}EImask{SPC}FF{SPC}FF{SPC}FE{SPC}00<ETX>
CoLa A

Hex 02 73 57 4E 20 45 49 6D 61 73 6B 20 46 46 20 46 46 20 46 45 20 30 30 03

Binary 02 02 02 02 00 00 00 0F 73 57 4E 20 45 49 6D 61 73 6B 20 FF FF FE 00 8C
CoLa B

Table 73: Example: sWN EImask 255.255.254.0

Telegram structure: sWA EImask

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sWA 73 57 41
type
Command Set IP mask String 6 All EImask 45 49 6D 61 73 6B
Table 74: Telegram structure: sWA EImask

Example: sWA EImask

ASCII <STX>sWA{SPC}EImask<ETX>
CoLa A

Hex 02 73 57 41 20 45 49 6D 61 73 6B 03

Binary 02 02 02 02 00 00 00 0A 73 57 41 20 45 49 6D 61 73 6B 20 7D
CoLa B

Table 75: Example: sWA EImask

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 39

Subject to change without notice
TELEGRAM LISTING RMS320

4.4.6 Read IP mask

Telegram structure: sRN EImask

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Read String 3 All sRN 73 52 4E
type
Command Read IP mask String 6 All EImask 45 49 6D 61 73 6B
Table 76: Telegram structure: sRN Elmask

Example: sRN EImask

ASCII <STX>sRN{SPC}EImask<ETX>
CoLa A

Hex 02 73 52 4E 20 45 49 6D 61 73 6B 03

Binary 02 02 02 02 00 00 00 0A 73 52 4E 20 45 49 6D 61 73 6B 57
CoLa B

Table 77: Example: sRN EImask

Telegram structure: sRA EImask

Telegram Description Variable Length Sensor Values CoLa A (ASCII) Values CoLa B (Binary)
part
Command Answer String 3 All sRA 73 52 41
type
Command Read IP mask String 6 All EImask 45 49 6D 61 73 6B
IP mask Values in hex Uint_32 4 All 00 00 00 00h … 00 00 00 00 …
FF FF FF FFh FF FF FF FF
(decimal values unwieldy)
Table 78: Telegram structure: sRA Elmask

40 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Example: sRA EImask 255.255.254.0

ASCII <STX>sRA{SPC}EImask{SPC}FF{SPC}FF{SPC}FE{SPC}00<ETX>
CoLa A

<STX>sRN{SPC}EImask<ETX>
Hex 02 73 52 41 20 45 49 6D 61 73 6B 20 45 49 6D 61 73 6B 03

Binary 02 02 02 02 00 00 00 0F 73 52 41 20 45 49 6D 61 73 6B 20 FF FF FE 00 86
CoLa B

Table 79: Example: sRA EImask 255.255.254.0

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 41

Subject to change without notice
TELEGRAM LISTING RMS320

5 List of tables

Table 1: Example: Binary telegram ....................................................................... 5

Table 2: Example: ASCII telegram ......................................................................... 6
Table 3: Telegram structure: sMN SetAccessMode ........................................... 10
Table 4: Example: sMN SetAccessMode ............................................................. 10
Table 5: Telegram structure: sAN SetAccessMode ............................................ 11
Table 6: Example: sAN SetAccessMode.............................................................. 11
Table 7: Telegram structure: sMN mSCloadfacdef ............................................ 11
Table 8: Example: sMN mSCloadfacdef.............................................................. 12
Table 9: Telegram structure: sAN mSCloadfacdef ............................................. 12
Table 10: Example: sAN mSCloadfacdef .............................................................. 12
Table 11: Telegram structure: sMN mSCloadappdef ........................................... 13
Table 12: Example: sMN mSCloadappdef ............................................................ 13
Table 13: Telegram structure: sAN mSCloadappdef ............................................ 13
Table 14: Example: sAN mSCloadappdef ............................................................. 13
Table 15: Telegram structure: sMN mSCreboot ................................................... 14
Table 16: Example: sMN mSCreboot ..................................................................... 14
Table 17: Telegram structure: sAN mSCreboot .................................................... 14
Table 18: Example: sAN mSCreboot ..................................................................... 15
Table 19: Telegram structure: sMN mEEwriteall .................................................. 15
Table 20: Example: sMN mEEwriteall.................................................................... 15
Table 21: Telegram structure: sAN mEEwriteall ................................................... 16
Table 22: Example: sAN mEEwriteall .................................................................... 16
Table 23: Telegram structure: sMN Run ............................................................... 16
Table 24: Example: sMN Run ................................................................................. 17
Table 25: Telegram structure: sAN Run ................................................................ 17
Table 26: Example: sAN Run .................................................................................. 17
Table 27: Telegram structure: sWN TransmitTargets .......................................... 18
Table 28: Example: sWN TransmitTargets ............................................................ 18
Table 29: Telegram structure: sWA TransmitTargets .......................................... 18
Table 30: Example: Confirmation of sWA TransmitTargets ................................ 19
Table 31: Telegram structure: sWN TransmitObjects .......................................... 19
Table 32: Example: sWN TransmitObjects ............................................................ 19
Table 33: Telegram structure: sWA TransmitObjects .......................................... 19
Table 34: Example: Confirmation of sWA TransmitObjects ................................ 20
Table 35: Telegram structure: sEN LMDradardata ............................................... 20
Table 36: Example: sEN LMDradardata ................................................................ 20

42 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
TELEGRAM LISTING RMS320

Table 37: Telegram structure: sEA LMDradardata ............................................... 21

Table 38: Example: Confirmation of sEA LMDradardata ..................................... 21
Table 39: Telegram structure: Datastream of sSN LMDradardata ..................... 28
Table 40: Telegram structure: sRN DeviceIdent ................................................... 28
Table 41: Example: sRN DeviceIdent .................................................................... 28
Table 42: Telegram structure: sRA DeviceIdent ................................................... 29
Table 43: Example: sRA DeviceIdent .................................................................... 29
Table 44: Telegram structure: sRN DItype ............................................................ 29
Table 45: Example: sRN DItype ............................................................................. 30
Table 46: Telegram structure: sRA DItype ............................................................ 30
Table 47: Example for sRA DItype ........................................................................ 30
Table 48: Telegram structure: sRN SerialNumber ............................................... 31
Table 49: Example: sRN SerialNumber ................................................................. 31
Table 50: Telegram structure: sRA SerialNumber................................................ 31
Table 51: Example: sRA SerialNumber ................................................................. 32
Table 52: Telegram structure: sRN OrdNum......................................................... 32
Table 53: Example: sRN OrdNum .......................................................................... 32
Table 54: Telegram structure: sRA OrdNum ......................................................... 33
Table 55: Example for sRA OrdNum...................................................................... 33
Table 56: Telegram structure: sWN EIIpAddr ....................................................... 34
Table 57: Example: sWN EIIpAddr 192.168.0.2................................................... 34
Table 58: Telegram structure: sWA EIIpAddr........................................................ 34
Table 59: Example: sWA EIIpAddr ......................................................................... 35
Table 60: Telegram structure: sRN EIIpAddr ........................................................ 35
Table 61: Example: srN EIIpAddr ........................................................................... 35
Table 62: Telegram structure: sRA EIIpAddr......................................................... 35
Table 63: Example: sRA EIIpAddr 192.168.0.2 .................................................... 36
Table 64: Telegram structure: sWN Elgate ........................................................... 36
Table 65: Example: sWN EIgate 192.168.0.1 ...................................................... 36
Table 66: Telegram structure: sWA Elgate ........................................................... 37
Table 67: Example: sWA EIgate ............................................................................. 37
Table 68: Telegram structure: sRN Elgate ............................................................ 37
Table 69: Example: sRN EIgate.............................................................................. 37
Table 70: Telegram structure: sRA Elgate ............................................................ 38
Table 71: Example: sRA EIgate 192.168.0.1 ....................................................... 38
Table 72: Telegram structure: sWN EImask ......................................................... 38
Table 73: Example: sWN EImask 255.255.254.0................................................ 39
Table 74: Telegram structure: sWA EImask ......................................................... 39
Table 75: Example: sWA EImask ........................................................................... 39

8021531/11C8/2018-10-01 | SICK TECHNICAL INFORMATION | RADAR SENSORS 43

Subject to change without notice
TELEGRAM LISTING RMS320

Table 76: Telegram structure: sRN Elmask .......................................................... 40

Table 77: Example: sRN EImask............................................................................ 40
Table 78: Telegram structure: sRA Elmask .......................................................... 40
Table 79: Example: sRA EImask 255.255.254.0 ................................................. 41

44 TECHNICAL INFORMATION | RADAR SENSORS 8021531/11C8/2018-10-01 | SICK

Subject to change without notice
8021531/11C8/2018-10-01 ∙ A4 sw int48

Australia Israel South Korea

Phone +61 (3) 9457 0600 Phone +972-4-6881000 Phone +82 2 786 6321
1800 33 48 02 – tollfree E-Mail [email protected] E-Mail [email protected]
E-Mail [email protected] Italy Spain
Austria Phone +39 02 27 43 41 Phone +34 93 480 31 00
Phone +43 (0) 2236 62288-0 E-Mail [email protected] E-Mail [email protected]
E-Mail [email protected] Japan Sweden
Belgium/Luxembourg Phone +81 3 5309 2112 Phone +46 10 110 10 00
Phone +32 (0) 2 466 55 66 E-Mail [email protected] E-Mail [email protected]
E-Mail [email protected] Malaysia Switzerland
Brazil Phone +603-8080 7425 Phone +41 41 619 29 39
Phone +55 11 3215-4900 E-Mail [email protected] E-Mail [email protected]
E-Mail [email protected] Mexico Taiwan
Canada Phone +52 (472) 748 9451 Phone +886-2-2375-6288
Phone +1 905.771.1444 E-Mail [email protected] E-Mail [email protected]
E-Mail [email protected] Netherlands Thailand
Czech Republic Phone +31 (0) 30 229 25 44 Phone +66 2 645 0009
Phone +420 2 57 91 18 50 E-Mail [email protected] E-Mail [email protected]
E-Mail [email protected] New Zealand Turkey
Chile Phone +64 9 415 0459 Phone +90 (216) 528 50 00
Phone +56 (2) 2274 7430 0800 222 278 – tollfree E-Mail [email protected]
E-Mail [email protected] E-Mail [email protected] United Arab Emirates
China Norway Phone +971 (0) 4 88 65 878
Phone +86 20 2882 3600 Phone +47 67 81 50 00 E-Mail [email protected]
E-Mail [email protected] E-Mail [email protected] United Kingdom
Denmark Poland Phone +44 (0)17278 31121
Phone +45 45 82 64 00 Phone +48 22 539 41 00 E-Mail [email protected]
E-Mail [email protected] E-Mail [email protected] USA
Finland Romania Phone +1 800.325.7425
Phone +358-9-25 15 800 Phone +40 356-17 11 20 E-Mail [email protected]
E-Mail [email protected] E-Mail [email protected] Vietnam
France Russia Phone +65 6744 3732
Phone +33 1 64 62 35 00 Phone +7 495 283 09 90 E-Mail [email protected]
E-Mail [email protected] E-Mail [email protected]
Germany Singapore
Phone +49 (0) 2 11 53 01 Phone +65 6744 3732
E-Mail [email protected] E-Mail [email protected]
Hong Kong Slovakia
Phone +852 2153 6300 Phone +421 482 901 201
E-Mail [email protected] E-Mail [email protected]
Hungary Slovenia
Phone +36 1 371 2680 Phone +386 591 78849
E-Mail [email protected] E-Mail [email protected]
India South Africa
Phone +91-22-6119 8900 Phone +27 (0)11 472 3733
E-Mail [email protected] E-Mail [email protected] Further locations at www.sick.com

SICK AG | Waldkirch | Germany | www.sick.com