Download OpenAPI specification:
This is the REST interface description of the LRS4000. The range of functions can vary depending on the variant and software package.
Sets the password for the CoLa A/B interface. In this example the password for userlevel service (4) is set to - test - (Integer value of the password hash - test -). For more details see https://github.com/SICKAG/sick_scan_rest_client
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object |
{- "data": {
- "siUserLevel": 4,
- "udiNewPassword": 3410122659
}
}{- "bSuccess": false
}Returns a challenge for the challenge and response authentication method. For more details see https://github.com/SICKAG/sick_scan_rest_client
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object |
{- "data": {
- "user": "Run"
}
}{- "realm": " ",
- "nonce": " ",
- "opaque": " ",
- "salt": [ ]
}Sets the password for the REST interface.For more details see https://github.com/SICKAG/sick_scan_rest_client
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object |
{- "data": {
- "encryptedMessage": [ ],
- "userLevel": "Run"
}
}{- "result": 0
}Resets only the user parametrization of the fields, evaluation cases, and parameters under the section Application. Other parameters like interface settings, echo filter, etc. remain unchanged.This function requires the user level: Service.
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{ }The sensitivity mode can be used to adjust the detection behavior. A higher sensitivity increases the scanning range.This setting should only be used when there is no direct sunlight and only low ambient light. A higher sensitivity increases the proneness to measurement noise and data loss. Ambient light can negatively affect the signal quality and impair the measurement performance.
0The sensitivity mode can be used to adjust the detection behavior. A higher sensitivity increases the scanning range.This setting should only be used when there is no direct sunlight and only low ambient light. A higher sensitivity increases the proneness to measurement noise and data loss. Ambient light can negatively affect the signal quality and impair the measurement performance.
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{- "data": {
- "SensitivityMode": 0
}
}Set a new device scan resolution/frequency combination. Please note that configurations, starting with value 3x or 9x switch the device from standard to extended range mode and values starting with x, 1x, 6x, 7x switch the device from extended range to normal mode.
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{- "data": {
- "ScanConfigList": 1
}
}{- "eScanConfigError": 0
}Sets the time of the device (years, months, days, hours, minutes, seconds, microseconds).
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{- "data": {
- "DateTime": {
- "uiYear": 0,
- "usiMonth": 1,
- "usiDay": 1,
- "usiHour": 0,
- "usiMinute": 0,
- "usiSec": 0,
- "udiUSec": 0
}
}
}{- "ErrorCode": 0
}Returns/sets the multi-echo filter settings. Depending on the environment the sensor receives several measurement points on the same angular step (multi-echo). The filter can out the first echo, the last echo or all echos.
0Returns/sets the multi-echo filter settings. Depending on the environment the sensor receives several measurement points on the same angular step (multi-echo). The filter can out the first echo, the last echo or all echos.
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{- "data": {
- "FREchoFilter": 0
}
}Returns/sets the particle filter settings. Filters out disturbances in the measurement data caused by particles such as dust, snowflakes, or similar. Configure the minimal threshold of the required distance step (mm) between the echo to be filtered and the echoes of surrounding beam angles.
{- "bEnable": false,
- "uiThreshold": 1000
}Returns/sets the particle filter settings. Filters out disturbances in the measurement data caused by particles such as dust, snowflakes, or similar. Configure the minimal threshold of the required distance step (mm) between the echo to be filtered and the echoes of surrounding beam angles.
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object |
{- "data": {
- "ParticleFilter": {
- "bEnable": false,
- "uiThreshold": 1000
}
}
}Returns/sets the mean filter settings. This filter smooths the distance value by calculating the arithmetic mean from the configured number of scans.
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{- "data": {
- "MeanFilter": {
- "bEnable": false,
- "uiScanNumber": 10,
- "eFilterMethod": 0
}
}
}Returns/sets the median filter settings. This filter smooths the distance values by transmitting just the median value of the last X scans.
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object |
{- "data": {
- "LFPmedianfilter": {
- "bEnable": false,
- "uiMedianWidth": 3
}
}
}Returns/sets of the contamination indication settings such as sensitivity, response time, threshold for warning, and active sectors.
{- "eStrategy": 0,
- "usiResponseTime": 3,
- "eThreshold": 0,
- "eCover": 0,
- "CustomSectors": [
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false
], - "bEnableWarning": true,
- "bEnableError": true
}Returns/sets of the contamination indication settings such as sensitivity, response time, threshold for warning, and active sectors.
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{- "data": {
- "ContaminationConfig": {
- "eStrategy": 0,
- "usiResponseTime": 3,
- "eThreshold": 0,
- "eCover": 0,
- "CustomSectors": [
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false
], - "bEnableWarning": true,
- "bEnableError": true
}
}
}Returns the active contamination sectors. Starts with right backside of the sensor when looking to the device on topside view and continues counterclockwise.
[- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false
]This parameter should only be changed in case the sensor is connected to a network where reconnections may be required caused by e.g. loose contact of the Ethernet cable. This command changes the Acknowledge timeout for TCP based CoLa protocols. Reducing the Acknowledge timeout allows a faster restart of data transmission after unwanted disconnects. In large networks with high amount of data traffic, a reduced Acknowledge timeout may lead to a port close, initiated by the sensor.
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{- "data": {
- "EtherColaTransmitTimeout": 15000
}
}Enables/disables the device search by SICK tools. If disabled, finding the device via device search and changing the IP address via SICK tools is not possible.
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{- "data": {
- "EnableColaScan": true
}
}This command enables/ disables the CoLa A event output. If disabled, CoLa A port 2111 still provides access to poll device parameters but event-based streaming output is limited to the ports 2112 (CoLa B) or data protocol Compact.
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{- "data": {
- "EtherCoLaAEventsEnable": false
}
}Sets availability of the webserver (reboot required). If disabled, the webserver-based GUI and the REST interface can not be used anymore.
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{- "data": {
- "Enable": true
}
}{- "uiVersionNumber": 1,
- "udiSystCount": 0,
- "aDigitalIn": [
- {
- "IOState": {
- "eIOState": 0
}
}, - {
- "IOState": {
- "eIOState": 0
}
}, - {
- "IOState": {
- "eIOState": 0
}
}, - {
- "IOState": {
- "eIOState": 0
}
}, - {
- "IOState": {
- "eIOState": 0
}
}, - {
- "IOState": {
- "eIOState": 0
}
}
], - "aTimeBlock": [ ]
}{- "uiVersionNumber": 1,
- "udiSystCount": 0,
- "aDigitalOut": [
- {
- "IOState": {
- "eIOState": 0
}, - "udiCounter": 0
}, - {
- "IOState": {
- "eIOState": 0
}, - "udiCounter": 0
}, - {
- "IOState": {
- "eIOState": 0
}, - "udiCounter": 0
}, - {
- "IOState": {
- "eIOState": 0
}, - "udiCounter": 0
}, - {
- "IOState": {
- "eIOState": 0
}, - "udiCounter": 0
}, - {
- "IOState": {
- "eIOState": 0
}, - "udiCounter": 0
}
], - "aTimeBlock": [ ]
}[- {
- "PortType": 0,
- "Name": "IOx",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 0,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 0,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "IOx",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 0,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 0,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "IOx",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 0,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 0,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "IOx",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 0,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 0,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "IOx",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 0,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 0,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "IOx",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 0,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 0,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}
]Returns/sets the port configuration of all I/Os.
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{- "data": {
- "PortConfiguration": [
- {
- "PortType": 0,
- "Name": "InOut1",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 5,
- "Sensitivity": 1,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 1,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 1,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 1,
- "Name": "InOut2",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 1,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 1,
- "OutputMode": 2,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 1,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [
- {
- "Name": "DRDY",
- "Invert": false,
- "Reserved5": 0,
- "Reserved6": 0
}
]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 1,
- "Name": "InOut3",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 1,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 1,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [
- {
- "Name": "FE01",
- "Invert": false,
- "Reserved5": 0,
- "Reserved6": 0
}
]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "InOut4",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 1,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 1,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "InOut5",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 1,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 1,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}, - {
- "PortType": 0,
- "Name": "InOut6",
- "InputSettings": {
- "Logic": 0,
- "Debounce": 10,
- "Sensitivity": 1,
- "Reserved1": 0,
- "Reserved2": 0
}, - "OutputSettings": {
- "Logic": 0,
- "OutputMode": 0,
- "RestartType": 0,
- "RestartTime": 200,
- "RestartInput": 1,
- "Combination": 1,
- "Reserved3": 0,
- "Reserved4": 0,
- "Sources": [ ]
}, - "Reserved7": 0,
- "Reserved8": 0,
- "Reserved9": 0,
- "Reserved10": 0
}
]
}
}Sets the output state for an individual output. Precondition: output source set to SOPAS command.
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{- "data": {
- "Output": 0,
- "Value": 0
}
}{- "Success": false
}Select the start and stop angle of the measurement data output for the currently active configuration. Once a valid configuration is set, the device will transmit valid distance values between the selected start and stop angle and for all other angles zero values. The amount of transmitted data will not be reduced by using this function.
{- "uiLength": 1,
- "aRange": [
- {
- "udiAngleRes": 1200,
- "diStartAngle": -1800000,
- "diStopAngle": 1800000
}
]
}Select the start and stop angle of the measurement data output for the currently active configuration. Once a valid configuration is set, the device will transmit valid distance values between the selected start and stop angle and for all other angles zero values. The amount of transmitted data will not be reduced by using this function.
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object |
{- "data": {
- "DataOutputRange": {
- "uiLength": 1,
- "aRange": [
- {
- "udiAngleRes": 1200,
- "diStartAngle": -1800000,
- "diStopAngle": 1800000
}
]
}
}
}Configure the scaling factor for distance measurements when LMDscandata or Compact is selected as the data output format.
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object |
{- "data": {
- "ScanDataScaleFactor": 1
}
}Returns the current IMU data (e.g. Acceleration, Orientation, ... ). The data is given in the following coordinate system which is based on the DIN70000 system: The x-axis lies on the 90 degree beam of the 0 degree layer. The y-axis is perpendicular to the x-axis and lies in the 0 degree layer. The y-values are rising in the counterclockwise rotation direction (right-handed system). The z-axis is perpendicular to the x-y-plane and the scanner top points to rising z-values.
{- "Acceleration": [
- 0,
- 0,
- 0
], - "AngularVelocity": [
- 0,
- 0,
- 0
], - "MagneticField": [
- 0,
- 0,
- 0
], - "Orientation": [
- 0,
- 0,
- 0,
- 0
], - "TimeStamp": 0
}Returns/sets the scanning range filter settings. Restriction of the distance measurements to a specified distance range. Measurement distances outside of the specified distance are assigned the distance and RSSI value 0.
{- "bEnable": false,
- "ulDistMin": 0,
- "ulDistMax": 200000
}Returns/sets the scanning range filter settings. Restriction of the distance measurements to a specified distance range. Measurement distances outside of the specified distance are assigned the distance and RSSI value 0.
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object |
{- "data": {
- "LFPradialDistanceRangeFilter": {
- "bEnable": false,
- "ulDistMin": 0,
- "ulDistMax": 200000
}
}
}Sets the activation condition for all existing evaluation groups, when activation is set to Telegram..
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object |
{- "data": {
- "List": [
- {
- "GroupId": 1,
- "Activate": true
}, - {
- "GroupId": 2,
- "Activate": false
}, - {
- "GroupId": 3,
- "Activate": true
}
]
}
}{- "Success": [ ]
}Sets the contour of an existing field.
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object |
{- "data": {
- "EvaluationId": 1,
- "LowerZLimit": 0,
- "UpperZLimit": 0,
- "Points": [
- {
- "x": 0,
- "y": -1000
}, - {
- "x": 1000,
- "y": -1000
}, - {
- "x": 1000,
- "y": 1000
}, - {
- "x": 0,
- "y": 1000
}
]
}
}{- "ErrorCode": 0
}Get the field evaluation application state. It returns the information whether the field evaluation application is active, configuring or deactivated. 0 - Deactivated - no evaluation is set up. 1 - Activated - at least one active evaluation (group activation has no influence on that). 2 - Configuring - new calculation of the e.g. field geometries
0Select the Encoder type that is used to create the scan merge when the Scan Merger source is set to Encoder.
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object |
{- "data": {
- "EncoderTransformationType": 0
}
}Set the start orientation when the encoder transformation type is set to rotation.
successful operation
object |
{- "data": {
- "EncoderRotation": {
- "yaw": 0,
- "pitch": 0,
- "roll": 0
}
}
}Set the start orientation when the encoder transformation type is set to translation.
successful operation
object |
{- "data": {
- "EncoderTranslation": {
- "x": 0,
- "y": 0,
- "z": 0
}
}
}Start the recording of a scan merge when the Scan Merger functionality is enabled. The recording time is limited to 15 or 30 seconds, depending on the selected scan configuration.
successful operation
{ }synchronisation mode e.g. no synchronisation, hardware synchronisation, CAN synchronisation or CLOCK synchronisation (LRS4000 only supports Clock-Sync and wire sync)
successful operation
object |
{- "data": {
- "SyncMode": 0
}
}Creates a diagnostic file (zip file) for further analysis.
successful operation
object |
{- "data": {
- "DoRunlevelLoop": true,
- "Output": "file"
}
}{- "Successfull": false
}Returns additional meta-information about the diagnostic file.
successful operation
{ }{- "DiagDumpExists": false,
- "DiagDumpTimestamp": 0
}