Quick Reference Guide for Sick LMS

8/10/2019 Quick Reference Guide for Sick LMS

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Quick Reference Guide forInterfacing Sick LMS-291 Sensor To

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Table of ontents

1 Overview......................................................................................................................3

2 Initial Setup Using MATLAB......................................................................................3

2.1 Communication setup via MATLAB an !S"22 #or $%%&'ps operation...........3

2.2 (ermanent Con#iguration Setup...........................................................................$

3 Common Setup an Use tas)s in Simulin)*+(C Target...............................................,

3.1 Con#iguring t-e LMS2/1 to communicate at $%%)'ps #rom +(C w-en starting

at #actor0 setting /,%%'ps................................................................................................,

3.2 !euire LMS2/1 Con#iguration C-anges via +(C Target w-en LMS2/1 is

Communicating at $%%)'ps...........................................................................................123.3 +ample o# ata Collection #rom LMS2/1.....................................................13

" Appeni+....................................................................................................................1"

".1 Ot-er Telegram In#ormation..............................................................................1"".2 Communication setup via MATLAB an !S232 4Optional5............................1$

".3 etails on ata Collection #rom LMS2/1.......................................................1$


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!+ 2 4 T+

T+ 3 8 !+

T+ 4 9 !+

> $ 1 >

>C , 2 >C

>C 8 3 >C>C 9 , >C

>C / 8 >C

> rounD >C >ot Connecte

3 COMMON SETUP AND USE TASKS IN SIMULINK/XPC TARGET

T-e LMS2/1 unit will nee to -ave a num'er o# #actor0 so#tware settings c-ange towor) properl0 at t-e esire $%%&'ps an 8$;< upate rate. T-ese settings nee to 'e

c-ange onl0 once per LMS2/1 unit6 as it can 'e set to save t-e c-anges in its non

volatile memor0 w-en it is powere own.

>ote= T-e Simulin) moels #or t-e LMS2/1 4!BemoELMS2/1ECon#igSetup.ml an

!BemoELMS2/1Eata!ea.ml5 are esigne to 'e use to communicate wit- a LMS

2/1 via +(C Target using a :astcom "22*2(CI33$ car. T-e0 will not wor) in aSimulin) simulation or using a i##erent car.

3.1 Configuring the LMS-291 to communicate at 500kbp from !"C #hen tarting

at factor$ etting 9%00bp

I# one esires to c-ange t-e 'au rate on t-e LMS2/1 #rom t-e e#ault #actor0 setting o#

/,%%'ps to $%%)'ps using +(C Target6 one woul use t-e!BemoELMS2/1ECon#igSetup.ml 4availa'le #rom t-e emos part o# t-e li'rar05.

Con#igure t-e ialogue 'o+ on t-e FSic)LMS2/1 Con#igurationG 'loc) to 'e as s-own'elow.


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>ow 'uil an run t-e moel on +(C Target wit- t-e LMS2/1 running wit- its status

L s-owing green. I# 0ou see pulses t-at come 'ac) to


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>ow 'uil an run t-e moel on +(C Target wit- t-e LMS2/1 running wit- its statusL s-owing green.

H-en t-is -as 'een complete success#ull06 t-e LMS2/1 will communicate at $%%)'psan sta0 at $%%)'ps w-en its power is c0cle.


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3.2 &e'uire( LMS-291 Configuration Change )ia !"C *arget #hen LMS-291 i

Communicating at 500kbp

T-e E!BemoELMS2/1ECon#igSetup.ml is esigne to sen various telegrams to t-esensor neee to con#igure t-e sensor to sen ata in i##erent #ormats suc- as angular

range6 angular resolution6 measurement units an 'aurates. ?ou can select t-e

con#iguration 0ou nee '0 selecting t-e appropriate tas)s in t-e LMS Con#ig Telegramialog 'o+.

T-e e#ault state o# t-e 'loc) con#igures an LMS2/1 running at $%%)'ps to use 19%

range6 1 resolution6 mm units an saves t-at con#iguration so w-en t-e power is c0cleon t-e LMS2/16 t-e con#iguration remains t-e same. T-e e#ault state is s-own 'elow.

Buil an run t-e moel on +(C wit- t-e LMS2/1 running an s-owing green on t-e

status L. H-en t-is success#ull0 completes6 t-e LMS2/1 is rea0 #or ata acuisition#rom t-e !BemoELMS2/1Eata!ea.ml.


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3.3 +!amp,e of ata Co,,ection from LMS-291

Once t-e LMS2/1 is properl0 con#igure6 t-e #ollowing steps will allow 0ou to collect

ata o## t-e LMS2/1 via t-e +(C Target (C6 sen it to t-e -ost an ispla0 it inMATLAB on t-e -ost (C.

1. Attac- t-e LMS2/1 to t-e !S"22 car in t-e +(C Target (C.


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2. Start Simulin) an esta'lis- connection wit- +(C Target (C via et-ernet.

3. Open !BemoELMS2/1Eata!ea.ml an 'uil it #or +(C Target. 4CtrlB5T-e 'uil processs will conclue '0 loaing t-e e+ecuta'le #ile onto t-e +(C

Target mac-ine.

". Open !BemoELMS2/1E;ostataispla0.ml.

$. T0pe tg.start at t-e MATLAB comman prompt.

,. Clic) run on t-e !BemoELMS2/1E;ostataispla0 moel winow.

8. Jiew range measurements #rom LMS2/1 on -ost mac-ine in t-e #igure winowt-at pops up.

T-e ata in t-e +(C Target moel can 'e use #or an0 algorit-m esire. In t-is case6 it is

'eing sent out via U( pac)ets #or ispla0 on t-e -ost mac-ine instea o# 'eing use inan algorit-m.

4 INITIAL SETUP USING MATLAB

4.1 Communication etup )ia M*L/ an( &S422 for 500bp operation

T-e :astcom 'oar is setup to run at /,%% 'ps '0 e#ault wit- a 'ase cloc) rate o#

1".8"$, M;ote t-at %,-e+ 4,

ecimal5 inicates ac)nowlegement o# t-e comman '0 t-e sensor an 1$-e+

421 ecimal5 inicates t-at t-e sensor #aile to ac)nowlege t-e comman.

$. Sen t-e telegram to c-ange t-e 'aurate to $%%&.

,. Close t-e serial o'7ect in MATLAB using t-e :CLOS #unction.


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8. C-ange t-e cloc) #reuenc0 o# t-e :astcom 'oar to 9 M;ote= :astcom@s river gives cr0ptic errors w-en t-e port settings are

c-ange an t-e port is alrea0 open. Con#irm t-e port is close i# 0ou get errorsw-en appl0ing settings to t-e :astcom 'oar.

9. !eopen t-e serial o'7ect in MATLAB using t-e :O(> #unction.

/. Sen t-e telegram to c-ange to LMS2/1@s Installation Moe.

1%. Sen t-e telegram to c-ange to (ermanent Bau!ate moe.

11. T-e Sensor is now rea0 to communicate at $%%&'ps an will remem'er t-is

'au rate even w-en t-e power is turne o##.

4.2 "ermanent Configuration Setup

Using t-e instructions #rom previous section 42.156 0ou can setup t-e sensor to remem'er

its 'aurate w-en powere own. ;owever6 t-e sensor e#aults to its e#ault measuring

con#iguration 4e#ault settings #or LMS2/1 measurement units are mm6 angular range is% 19%6 angular resolution is %.$5 w-en powere 'ac) on. In orer to save a i##erent set

o# con#iguration settings6 per#orm t-e #ollowing steps. T-ese steps correspon to t-e

coe in t-e LMS2/1E(ermanentCon#igurationSetup.m M#ile.

1. Con#irm t-e :astcom@s Hinows river is set to t-e e#ault 'ase cloc) rate6

1".8"$,M;


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9. Sen t-e telegram to c-ange t-e 'aurate to $%%&.

/. Close t-e serial o'7ect in MATLAB using t-e :CLOS #unction.

1%. C-ange t-e cloc) #reuenc0 o# t-e :astcom 'oar to 9 M;ote= :astcom@s river gives cr0ptic errors w-en t-e port settings are

c-ange an t-e port is alrea0 open. Con#irm t-e port is close i# 0ou get errorsw-en appl0ing settings to t-e :astcom 'oar.

11. !eopen t-e serial o'7ect in MATLAB using t-e :O(> #unction.

12. Sen t-e telegram to c-ange to LMS2/1@s Installation Moe.

13. Sen t-e telegram to set t-is con#iguration to 'e permanent.

1". T-e Sensor is now rea0 to communicate at $%%&'ps wit- an angular range o# %K

19%K an resolution o# 1K. It will remem'er t-is con#iguration even w-en t-epower is turne o##.

5 APPENDIX

5.1 ther *e,egram nformation

?ou can also sen custom telegrams using t-e Sen Custom Telegrams option in!BemoELMS2/1ECon#igSetup.ml. Speci#0 t-e e+act telegram as a row vector in t-eeit 'o+. T-e elements o# t-e telegram must 'e o# atat0pe uint1,. T-e new

con#iguration can 'e set as permanent 4sensor memoriote t-at in t-is moel6 t-e secon c-annel o# t-e :astcom 'oar is not connecte an

-ence t-e0 are groune in t-e moel. I# -owever6 anot-er sensor is connecte to t-isc-annel6 t-e moel can 'e moi#ie.


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T-is moel uses t-e :astcom "22*2(CI33$ : 'loc) wit- t-e serial rivers #or t-e 'oar.

T-e ialog 'o+ #or t-e 'oar -as various setup parameters to speci#0 t-e cloc) rate o# t-e

'oar6 'u##er space6 'aurate etc. :or more in#ormation on t-is 'loc)6 re#er to t-eocumentation using t-e ;elp 'utton in t-e ialog 'o+.

5.2 Communication etup )ia M*L/ an( &S232 ptiona,

:or communication setup via !S2326 per#orm t-e #ollowing steps=

1. !emove t-e 7umper connection 'etween t-e pins 8 an 9 on t-e LMS sie insie

t-e ca'le connector

2. Buil an aapter wit- t-e #ollowing pin connections. >ote= t-e / pin !S232 port

t0pical on (C@s -as a stanari >o= (I> >o= Signal esignation>C 1 1 >C

!+ 2 3 T+

T+ 3 2 !+

>C " " >C

> $ $ >

>C , , >C

>C 8 8 >C

>C 9 9 >C

>C / / >C

> rounD >C >ot Connecte

>ow 0ou can switc- on t-e sensor an communicate wit- it t-roug- MATLAB using astanar serial o'7ect wit- t-e S!IAL #unction. >ote t-at in t-is moe6 t-e ma+imum

'aurate t-at can 'e ac-ieve is onl0 39"%%. !e#er to t-e LMS2/1ETelegramList.m M

#ile #or t-e mcoe wit- t-e rig-t s0nta+ an telegram listing to communicate an e+tract

ata #rom t-e sensor.

5.3 etai, on ata Co,,ection from LMS-291

T-e !BemoELMS2/1Eata!ea.ml is esigne to sen t-e Continuous ata Trans#er

telegram at t-e start o# t-e simulation an sen t-e Stop ata telegram at t-e speci#ie

time 4LMS ata Telegram 'loc)5. It will continuousl0 rea ata #rom t-e LMS2/1w-ile t-e evice is ta)ing measurements. T-e ata t-at is rea can 'e use in an0

algorit-m t-at can 'e #urt-er implemente in t-e moel. In t-is case6 t-e ata t-at is

'eing sent out via U( pac)ets #or ispla0 on t-e -ost mac-ine instea o# 'eing use inan algorit-m.

T-e LMS Sensor ata 'loc) reas t-e ata #rom t-e LMS2/1 an uses t-e ata -eaerto separate t-e ata #or eac- complete c0cle 4#or instance6 %19% wit- 1 resolution will


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-ave 191 points wit- 2 '0tes #or eac- point an t-at woul result in 3,2 ata values5.

Select t-e appropriate con#iguration 4measurement units an angular range5 o# t-e sensor

in t-e LMS Sensor ata 'loc). >ote t-at t-e -eaers are i##erent #or i##erentresolution*unit settings an selecting t-e rig-t con#iguration in w-ic- t-e sensor is

sening ata is important #or t-is 'loc) to recogni

Quick Reference Guide for Sick LMS

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