Telegram Listing

Telegrams for Configuring and

Operating the NAV350 Laser
Positioning Sensor

Navigating the route to improved productivity

NAV350 Telegram Listing

Copyright
Copyright © 2010 - 2013
SICK AG Waldkirch
Identification & Measuring, Reute Plant
Nimburger Strasse 11
79276 Reute
Germany
Trademark
AcrobatTM ReaderTM is a trademark of Adobe Systems Incorporated.
Telegram listing version
For the latest version of this telegram listing (PDF), see www.sick.com.

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 NAV350 Telegram Listing

1 INTRODUCTION 4
1.1 Function 4
1.2 Command Formats 4
1.2.1 Protocols in SOPAS ET 4
1.2.2 Binary Protocol 4
1.2.3 ASCII Protocol 5
1.2.4 Summary Example and Format Explanation 6
1.3 Data Types of Variables 7
1.4 Storable Parameter 8
1.5 Initialization Sequence 10
1.6 Sequence for Reflector Mapping 10
1.7 Principle of Navigation Mode 11
1.7.1 Navigational Loop 11
1.7.2 Providing Speed Loop 11
1.8 Timing Set Speed 12
1.8.1 Synchronization 12
1.8.2 Interpretation Timestamp/Position 13
1.8.3 Interpretation Timestamp / Speed with Synchronized AGV Timer (recommended) 14
1.8.4 Timing NPOSSetSpeed Based on Constant Offset 14
1.9 Error Messages (sFA) 15
2 COMMANDS 16
2.1 Commands Accessible from all Modes 16
2.1.1 Command: Read Device Identification 16
2.1.2 Command: Read Serial Number 17
2.1.3 Command: Read Measurement Firmware Version 17
2.1.4 Command: Read Application Version 18
2.1.5 Command: Set Current Layer 18
2.1.6 Command: Define Reflector Identification Window 20
2.1.7 Command: Configure Mapping 22
2.1.8 Command: Set the Sliding Mean 24
2.1.9 Command: Set Positioning Data Format 25
2.1.10 Command: Set Landmark Data Format 26
2.1.11 Command: Set Scan Data Format 28
2.1.12 Command: Set Hardware Time Sync 29
2.1.13 Command: Set Reflector Size 31
2.1.14 Command: Set Reflector Type 32
2.1.15 Command: Set Landmark Matching 33
2.1.16 Command: Set Sector Muting 34
2.1.17 Command: Set Orientation Coordinate System 36
2.1.18 Command: Set N Closest Reflectors 37
2.1.19 Command: Set Action Radius 38
2.1.20 Command: Set Reflector Threshold 39
2.2 Method Call 41
2.3 Methods Accessible from all Modes except POWERDOWN 41
2.3.1 Command: Set Operating Mode 41

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NAV350 Telegram Listing

2.3.2 Command: Set User Level 43

2.3.3 Command: Store Data Permanent 44
2.3.4 Command: Synchronize Timestamp 45
2.3.5 Command: Break Asynchronous Method 46
2.3.6 Command: Device Reset 47
2.4 Methods in STANDBY Mode 48
2.4.1 Command: Serial Interface Configuration 48
2.4.2 Command: Change IP Configuration 50
2.4.3 Command: Change Ethernet Configuration 51
2.4.4 Command: DHCP Enabled / Disabled 52
2.4.5 Command Add Landmark 53
2.4.6 Command: Edit Landmark 55
2.4.7 Command: Delete Landmark 56
2.4.8 Command: Read Landmark 57
2.4.9 Command : Read Layer 58
2.4.10 Command: Read Layout 59
2.4.11 Command: Erase Layout 60
2.4.12 Command: Store Layout Permanent 61
2.5 Methods in MAPPING Mode 62
2.5.1 Command: Do Mapping 62
2.6 Methods in LANDMARK Mode 65
2.6.1 Command: Get Landmark data 65
2.7 Methods in NAVIGATION Mode 69
2.7.1 Command: Position Request 69
2.7.2 Command: Position Data Request 73
2.7.3 Command: Velocity Input 78
2.7.4 Command: Set Current Position 79
2.7.5 Command: Set Current Position by Landmark ID 80

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 NAV350 Telegram Listing

1 Introduction

1.1 Function
This document shows how to send telegrams via terminal program to the NAV 350. The focus is on ASCII
(also in Hex) in SOPAS ET. Descriptions of the commands, the parameters and the expected response after
sending a telegram with the compact command CoLa (Command Language) are described. There are two
types of the Command Language: ASCII- (A) and Binary- (B) format. Parameters access as well as method
calls are supported. The common framing and rules of the binary protocol are described in the Introduction
as well but particular methods have to be converted from ASCII if CoLa B is used.

Attention: Some commands may change during SICK development processes. Please always use the latest
version of the “Telegram Listing”.

1.2 Command Formats

1.2.1 Protocols in SOPAS ET

To connect to the telegram section in SOPAS ET choose:
Tools  Terminal  Connections  New Connection…
At this point you have the choice between using the default protocol of the connected device and creating a
“user defined connection”.

Attention: If you want to communicate via telegram in SOPAS ET, close all open windows of the scanner in
SOPAS ET; otherwise you will get continuous status information that will make it impossible to read your
requests and the corresponding responses.

1.2.2 Binary Protocol

The binary protocol of the scanner has always a fixed length and the command string can be converted
from the ASCII commands described in this document. The binary protocol has a special framing so that
the scanner is able to recognize the start of a binary telegram. The string has to start with 4 STX symbols
(i.e. 02 02 02 02) that is followed by the length of the telegram in HEX (i.e.: 00 00 00 1B).

Example:
Binary: 02 02 02 02 00 00 00 1B 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 33 46 34
37 32 34 37 34 34 72
Special Characters: Header: 02 02 02 02; Length: 00 00 00 1B; Space: 20; Checksum: 72

The length can be created by counting every letter of the command in ASCII or every character pair in bi-
nary (without checksum and framing but with blanks) and convert the sum into HEX. Zeros are added in
front until a string of eight characters is built.
The command itself starts after the length characters. Every single letter of the written command is con-
verted to HEX turning into a pair of numbers, followed by a blank and then the parameters also converted
in HEX. In between parameters there are no blanks. The “Checksum” is built with XOR beginning the calcu-
lation right after the length (i.e. starting with 73 in the example above).

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NAV350 Telegram Listing

Attention: The response has the same structure as the request. Therefore the expected parameter is also
followed by a checksum which may lead to confusion.

1.2.3 ASCII Protocol

The framing of a telegram in ASCII is a <STX> at the start and an <ETX> at the end of each telegram.
Commands are written as letters, followed by the parameters as defined in this document. There has to be
a blank in between the command and the parameters and also in between each parameter (as shown in
the example below as ).

Example:
<STX>sMN SetAccessMode 3 F4724744<ETX>

In HEX the command start with 02 and ends with 03. The spaces are marked as 20. Single numbers that
are converted to HEX always get a 3 in front.

Example:
02734D4E205365744163636573734D6F6465203320463437323437343403

(Both examples show the same command and parameters.)

1.2.3.1 Request (User to Device)

In the ASCII decimal the user may choose one of the following notations to represent the value of one pa-
rameter in a command:
 Decimal notation
Values prefixed with "+" or "-" are interpreted as decimal value.
Example: Value to be sent: 319 (= 3F hex)  ASCII: '+‘,‘3‘,‘1‘, ‘9’

 Hexadecimal notation
Values without a prefixed "+" or "-" are interpreted as a hexadecimal value
Example: Value to be sent: 3F hex. (= 319 dec)  ASCII: '3‘,‘F'
The NAV350 interprets each parameter individually; therefore the different notations can be mixed
within a command string.

Attention: In an ASCII hexadecimal telegram the first notation has to be used but the number has to be
transformed to HEX (see example below).

Example:
If you want a value of 319 in a command written in HEX: 319  in HEX: 2B 33 31 39
HEX: +  2B ; -  2D

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 NAV350 Telegram Listing

1.2.3.2 Response (Device to User)

The scanner always responds in hexadecimal notation if no parameter (in decimal) was set before.

Attention: All values are returned from the scanner as HEX values, if they were not set before, so they have
to be converted afterwards. Once a value is set in ASCII decimal it is also returned as ASCII decimal value.
There are some methods (i.e. mNAVGetTimestamp (p.45)) that just request a value so the response is al-
ways in HEX and therefore it has to be converted afterwards. For these methods the corresponding range
only indicates the valid range (in decimal) but not the return value.

1.2.4 Summary Example and Format Explanation

This paragraph shall clarify the differences between the three kinds of command formats.

At first the command basics used in the telegrams are summarized in the following table.
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 by name sRN 73 52 4E
Write by name sWN 73 57 4E
Method sMN 73 4D 4E
Space {SPC} 20 20

Tab.1-1: Command basics

The following table shows the layout that is used to describe the commands in this document but in
order to demonstrate the difference between the two protocols the “Values Binary” column is added.
Telegram structure: sMN SetAccessMode

Command Description Type Values ASCII Values Binary

part
Command SOPAS by name String sMN 73 4D 4E
Type
Command User level String SetAccessMode 53 65 74 41 63 63 65 73
73 4D 6F 64 65
User level Select user level Int_8 2 = maintenance 02 = maintenance
3 = authorized client 03 = authorized client
Password “Hash” - value for UInt_32 B21ACE26 B2 1A CE 26
the user level
“Maintenance” F4724744 F4 72 47 44
“Authorized Client”
Tab.1-2: Telegram structure: sMN SetAccessMode

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NAV350 Telegram Listing

The last table shows a telegram sting in the three different command formats (as they can be seen if
used in the SOPAS telegram).
Example String:
sMN SetAccessMode 03 F4724744
ASCII <STX>sMN{SPC}SetAccessMode{SPC}3{SPC}F4724744<ETX>
HEX 02 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 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
Tab.1-3: Example string

1.3 Data Types of Variables

The following data types are specified for the variable values in the telegram:

Type Size (bits) Range of Value (decimal) Sign

Bool_1 8 0 or 1 unsigned
UInt_8 8 0 … 255 unsigned
Int_8 8 –128 … +127 signed
UInt_16 16 0 … 65535 unsigned
Int_16 16 –32768 … +32767 signed
UInt_32 32 0 … 4294967295 unsigned
Int_32 32 –2147483648 … +2147483647 signed
–44,85 38,53
Float_32 32 ±~10 … +10 signed
Enum_8 8 0…255 unsigned
Enum_16 16 0..65535 unsigned
String Depends on content Note: Strings not terminated by 0

Tab.1-4: Data types of variables

Note
 The figures in the table column "Size (bits)" refer to the binary transmission of numerical parameters.
The ASCII representation differs from these numbers depending on their notation as decimal or hexa-
decimal values.

 The figures in the table column "Range of value (decimal)" refer to the mathematically possible
Range/Value of values for the variables. The current range of values may differ and is described in the
“Command” chapter for each individual parameter of a command.

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 NAV350 Telegram Listing

1.4 Storable Parameter

The following table shows default settings for parameters and contents stored in the flash memory. More
parameters are storable by the command „mEEwriteAll”, if logged in as „Authorized client“.

Parameter Command Range Corresponding Value & Default

Serial
configuration
Baudrate SIHstBaud 6 19200
7 38400
8 57600
9 115200 (Default)
Data bits Data Bits 7..8 7_data bits
8_data bits (Default)
Parity Parity Check 0..4 0 = none
1 = odd
2 = even (Default)
3 = mark
4 = space
Stopbit SIHstStop 0 1 (Default)
1 2
Device ID NetDeviceID 1 … 127 (Default: 1)

Ethernet
configuration
IP-Address EtherIPAddress 0 … 255 (4x) 192.168.1.10 (Default)
Gateway EtherIPGateAddress 0 … 255 (4x) 0.0.0.0 (Default)
Subnetmask EtherIPMask 0 … 255 (4x) 255.255.255.0 (Default)
Interfaced speed and EtherIPSpeedDuplex 0 auto (Default)
duplex mode 1 10MB half
2 10MB full
3 100MB half
4 100MB full
Addressmode (DHCP) EtherAddressingMode 0 disabled (Default)
1 enabled

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NAV350 Telegram Listing

Measurement
parameter
Percent NLMDReflThreshold 0…100 in % Default: 50%
SlidingMean NPOSSlidingMean 1 ... 63 Default: 1
0 optimal (Default)
Filter NLMDLandmarkMatching 1 optimal + angle
2 optimal + angle + partly covered
WinLow 100 ... 2000 mm Default: 300
WinHigh 100 ... 2000 mm Default: 300
NCORIdentWindow
DistLow 500 ... 70000 mm Default: 500
DistHigh 500 … 70000 mm Default: 70000
NClosest NLMDnClosest 2 ... 40 Default: 0
RFr 500 ... 70000 mm Default: 500
NLMDActionRadius
RTo 500 ... 70000 mm Default: 70000
Sector0 /1 /2 /3 NLMDMutedSectors 0 … 359999 mdeg inactive
0 clockwise
Direction NEVACoordOrientation
1 counterclockwise (Default)

Tab.1-5: Storable parameter by the command “mEEwriteAll”, if logged in as “authorized client”

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 NAV350 Telegram Listing

1.5 Initialization Sequence

This sequence will initialize the NAV350 and start the navigation mode (mode 4).
The values of step 3 and 4 are just recommended default values that have to be replaced to fulfill individ-
ual requirements.

Step Command Page Parameter Values

1 Log-in sMN SetAccessMode 43 newMode 3
password F4724744
2 Standby mode sMN mNEVAChangeState 41 mode 1
3 Write current Layer sWN NEVACurrLayer 18 currLayer 7
4 Set positioning data format sWN NPOSPoseDataFormat 25 outputMode 10
5 Navigation mode sMN mNEVAChangeState 41 mode 4
6 Requesting the position sMN mNPOSGetPose 69 wait 1

Tab.1-6: Example for an initialization sequence

1.6 Sequence for Reflector Mapping

This sequence generates a valid layout in the memory of the scanner for navigation. In order to use this
sequence you have to switch to MAPPING (mode 3) first.

Step Command Page Parameter

1 Configure mapping sWN NMAPMapCfg 22 mean negative
(Settings for the mapping) x y phi

2 Select the layer number sWN NEVACurrLayer 20 Current layer

2 Do mapping sMN mNMAPDoMapping 70
(Performs mapping and sends the meas-
ured reflectors data to PC/PLC)
3 Add landmark sMN mNLAYAddLandmark 59 landmarkData

(Writes 1..50 landmarks to the scanner)

4 Store layout permanent sMN mNLAYStoreLayout 65
(Saves the reflectors in the flash memory)

Tabelle 1-7: Sequence for reflector mapping

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NAV350 Telegram Listing

1.7 Principle of Navigation Mode

This chapter shows the sequences from the initialization to the navigational loop to request the current
position from the scanner.

1.7.1 Navigational Loop

For mNPOSGetPose wait = 1

Initialization Sequence

AGV Controller

sMN mNPOSGetPose

Answer
sAN mNPOSGetPose within ~
125 msec

Without delay

1.7.2 Providing Speed Loop

The providing speed loop runs parallel up to 40Hz to the navigational loop.

Initialization Sequence

AGV Controller

sMN mNPOSSetSpeed

sAN mNPOSSetSpeed

Delay > 25 ms

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 NAV350 Telegram Listing

1.8 Timing Set Speed

1.8.1 Synchronization
The formula shows the resulting timing offset after requesting the scanner time between the timer of the
AGV and the NAV350 and considers also the influence of the transmission time.

GetTimeStamp  TSoffset = (TSAGV - TSTransfer ) - TSNAV

TSNAV
TSTransfer
GetTimeStamp

TSoffset Resulting timing offset

TSAGV Timestamp of AGV
TSNAV Timestamp of NAV350
TSTransfer Transfer time via RS232 or Ethernet interface

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NAV350 Telegram Listing

1.8.2 Interpretation Timestamp/Position

The command mNPOSGetPose wait (1) requests the position of the NAV350 with the following timestamp
(TS) at the 180° angle position. After completing the scan, the NAV350 emits the position information that
was taken in the previous timestamp (POSETS).

For mNPOSGetPose wait (1): Scan

TSNAV

Calc.

tNAV350
Pose
0° 180° 0° 180°
NAV
PoseTS
AGV
mNPOSGetPose (1)

The command mNPOSGetPose wait (0) requests the last available position information of the NAV350 and
gets the respond immediately with the timestamp (TS) from the previous 180° angle position.

For mNPOSGetPose wait (0):

Scan

TSNAV

Calc.

tNAV350
Pose
0° 180° 0° 180°
NAV
PoseTS
AGV
NPOSGetPose wait(0)

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 NAV350 Telegram Listing

1.8.3 Interpretation Timestamp / Speed with Synchronized AGV Timer

(recommended)
This formula shows how to calculate the value of TSNAV based on the AGV timer.

TSNAV

Scan Calc.
tNAV350
Pose
0° 180° 0° 180°
NAV
PoseTS
AGV
velocity ok

NPOSSetSpeed ( V TSnav)

TSNAV = TSVAGV - TSOffset

1.8.4 Timing NPOSSetSpeed Based on Constant Offset

The best point of time to provide the speed information of the AGV to the NAV350 is at the 180° position
of the scanner head. The synchronized AGV timer calculates when it is time for the next speed information.

TSNAV

Scan Calc.

tNAV350
PoseTSnav
0° 180° 0° 180°
NAV

AGV
NPOSGetPose wait (1) NPOSSetSpeed

TSspeed = (TSNAV + TSOffset) + 125 ms

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NAV350 Telegram Listing

1.9 Error Messages (sFA)

All commands are initially interpreted by the CoLa-A or CoLa-B command interpreter, before the actual exe-
cution of the command follows. If the command interpreter determines an error, it responds with an error
message in the form of "FA <Error number>". This is valid for all commands with direct variable access
(“RA”/“WA"), events, methods and other commands.Common error numbers are described in the following
table.

Error Number (ASCII) Error Description

1 Access authorization for execution of the method is missing (low user level)
2 Unknown method name / index
3 Unknown variable / index
4 Variable or parameter is out of Range/Value
5 Invalid data
6 Unknown error
7 Memory Overflow
8 Parameter is missing, memory underflow
9 Unknown error type
A Access authorization to write the variable is missing (low user level)
B Unknown command for the name server
C Unknown CoLa command
D Synchronous method is still running (only one currently possible)
E Flex Array is too large
F Unknown Event name / index
10 CoLa-A Type overflow (value is higher than allowed for the type)
11 Illegal CoLa-A character (eg - or letter)
12 No message from the operating system SOPAS
13 No response from the operating system SOPAS
14 Internal error

Tab.1-8: Error messages of the command interpreter

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 NAV350 Telegram Listing

2 Commands

2.1 Commands Accessible from all Modes

2.1.1 Command: Read Device Identification

Request Read
Command Syntax: sRN DeviceIdent (according: ST)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read Device identification String DeviceIdent

Response
Command Syntax: sRA DeviceIdent sizeName name sizeVersion version
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read Device identification String DeviceIdent
SizeName Length of name string UInt_8 0 ... 255
Name Device name String …
SizeVersion Length of version string UInt_8 0 ... 255
Version SOPAS-Device version String …

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NAV350 Telegram Listing

2.1.2 Command: Read Serial Number

Request Read
Command Syntax: sRN SerialNumber (according: SS)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read serial number String SerialNumber

Response
Command Syntax: sRA SerialNumber sizeNumber serialNumber
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read Serial number String SerialNumber
SizeNumber Length serial number string UInt_8 0 ... 16
SerialNumber Serial number String …

2.1.3 Command: Read Measurement Firmware Version

Request Read
Command Syntax: sRN MMDeviceInfo (according: ST)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read Measurement firmware Version String MMDeviceInfo

Response
Command Syntax: sRA MMDeviceInfo version
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read Measurement firmware Version String MMDeviceInfo
Version Measurement firmware Version String …

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 NAV350 Telegram Listing

2.1.4 Command: Read Application Version

Request Read
Command Syntax: sRN FirmwareVersion
(according: SV)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read Application software version String FirmwareVersion

Response
Command Syntax: sRA FirmwareVersion sizeVersion version
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Application software version String FirmwareVersion
SizeVersion Length of Application version string UInt_8 0 ... 255
Version Application software version String …

2.1.5 Command: Set Current Layer

Set the current Layer for Positioning and Mapping.

Request Write
Command Syntax: sWN NEVACurrLayer currLayer (according: PL, PM)
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set current Layer String NEVACurrLayer
CurrLayer Layer number UInt_16 0 ... 319
(Default: 0)

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Response
Command Syntax: sWA NEVACurrLayer
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Set current Layer String NEVACurrLayer

Request Read
Command Syntax: sRN NEVACurrLayer
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read current Layer String NEVACurrLayer

Response
Command Syntax: sRA NEVACurrLayer currLayer
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read current Layer String NEVACurrLayer
CurrLayer Current Layer UInt_16 0 ... 319

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 NAV350 Telegram Listing

2.1.6 Command: Define Reflector Identification Window

The identification window is used for identifying the reflectors in the continuous positioning mode.
In continuous positioning the NAV350 is in expectation of the approximate reflector positions.
The NAV350 sets an identification window with a radius of 300 mm (default radius) around each of the
reflector coordinates in the current layer. If the NAV350 recognizes a reflector in this identification window
it will allocate the measurement to this reflector and will use it the next time a position is determined.
The radius of the identification window can be changed with the command sWN NCORIdentWindow. This
enables the NAV350 to be optimized for extremely dynamic changes in velocity of the AGV and for challeng-
ing conditions resulting from faulty reflections.
The radius can be adjusted depending on the distance between the NAV350 and the reflector. The start
and end points of an even function are transferred to the NAV350 to this purpose. The NAV350 uses this to
calculate the respective radius of the identification window. The start and end point of the straight lines are
defined at the distance distLow by the winLow radius and at the distance distHigh by the winHigh radius.
The radius of these two points can be set in the range of 100 ... 2000 mm.

Request Write
Command Syntax: sWN NCORIdentWindow winLow winHigh distLow distHigh (according: PF)
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Define Reflector Identification Window String NCORIdentWindow
WinLow Window radius in mm at distLow UInt_16 100 ... 2000 mm
(Default: 300 mm)
WinHigh Window radius in mm at distHigh UInt_16 100 ... 2000 mm
(Default: 300 mm)
DistLow Distance in mm at winLow UInt_32 500 … 70 000 mm
(Default: 500 mm)
DistHigh Distance in mm at winHigh UInt_32 500 ... 70 000 mm
(Default: 70 000 mm)

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NAV350 Telegram Listing

Response
Command Syntax: sWA NCORIdentWindow
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Define Reflector Identification String NCORIdentWindow
Window

Request Read
Command Syntax: sRN NCORIdentWindow
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read Reflector Identification String NCORIdentWindow
Window

Response
Command Syntax: sRA NCORIdentWindow winLow winHigh distLow distHigh
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read Reflector Identification Window String NCORIdentWindow
WinLow Window radius in mm at distLow UInt_16 100 ... 2000 mm
WinHigh Window radius in mm at distHigh UInt_16 100 ... 2000 mm
DistLow Distance in mm at winLow UInt_32 500 ... 70 000 mm
DistHigh Distance in mm at winHigh UInt_32 500 ... 70 000 mm

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 NAV350 Telegram Listing

2.1.7 Command: Configure Mapping

The command “Configure Mapping” sets the parameter to control the Mapping mode (refer command Do
Mapping (p.62))
In the "Mapping" mode the NAV350 measures the reflector positions visible within its range in
absolute coordinates. The measuring is related to one layer at a time, so the NAV350 must be informed of
the layer (refer to the command Set current Layer (p.18)), about its own position and orientation in the
absolute coordinate system (command Configure Mapping) and the size of the reflectors (refer to Com-
mand Set Reflector Size (p.31)).
If the parameter negative is set to 0, the NAV350 returns all measured reflectors. If the parameter negative
is set to 1, the NAV350 returns new reflectors measured only in the current layer. The reflector data refers
to the absolute coordinate system.

Request Write
Command Syntax: sWN NMAPMapCfg mean negative x y phi
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Configure Mapping String NMAPMapCfg
Mean Number of scans for averaging UInt_8 1…127
(Default: 50)
Negative If the parameter is set to 0, the NAV350 Bool_1 0 = positive-Mapping (De-
responds all measured reflectors, fault)
If the parameter is set to 1, the NAV350 1 = negative-Mapping
responds new reflectors. Existing reflectors
in the current layer are ignored
X X-Position of the NAV350 Int_32 -10 000 000…
+10 000 000 mm
(Default: 0)
Y Y-Position of the NAV350 Int_32 -10 000 000…
+10 000 000 mm
(Default: 0)
Phi Heading of the NAV350 Int_32 -360 000…
+360 000 mdeg
(Default: 0)

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Response
Command Syntax: sWA NMAPMapCfg
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Configure Mapping String NMAPMapCfg

Request Read
Command Syntax: sRN NMAPMapCfg
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read Mapping configuration String NMAPMapCfg

Response
Command Syntax: sRA NMAPMapCfg mean negative x y phi
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read Mapping configuration String NMAPMapCfg
Mean Number of scans for averaging UInt_8 1…127

Negative If the parameter is set to 0, the NAV350 Bool_1 0 positive-Mapping

responds all measured reflectors, 1 negative-Mapping
If the parameter is set to 1, the NAV350
responds new reflectors. Existing reflectors
in the current layer are ignored
X X-Position of the NAV350 Int_32 -10 000 000…
+10 000 000 mm
Y Y-Position of the NAV350 Int_32 -10 000 000…
+10 000 000 mm
Phi Orientation of the NAV350 Int_32 -360 000…
+360 000 mdeg

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2.1.8 Command: Set the Sliding Mean

Set the sliding mean for the positioning mode.

Request Write
Command Syntax: sWN NPOSSlidingMean slidingMean (according PN)
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set sliding mean String NPOSSlidingMean
SlidingMean Smoothing factor UInt_8 1 ... 63
(Default: 1)

Response
Command Syntax: sWA NPOSSlidingMean
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Set sliding mean String NPOSSlidingMean

Request Read
Command Syntax: sRN NPOSSlidingMean
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sRN

Command Read sliding mean String NPOSSlidingMean

Response
Command Syntax: sRA NPOSSlidingMean slidingMean
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sRA

Command Read sliding mean String NPOSSlidingMean
SlidingMean Smoothing factor UInt_8 1 ... 63

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2.1.9 Command: Set Positioning Data Format

The command Set Positioning Data Format parameterizes the responds of the commands NPOSGetData
(p.73) and NPOSGetPose (p.69).
If outputMode is set to 1 the NAV350 extrapolates the calculated position data to the point in time of
transmission. If set to 0 the NAV350 respond the position result instantly, valid at the timestamp in the
pose responds (refer to the command sMA mNPOSGetPose (p.73))

Request Write
Command Syntax: sWN NPOSPoseDataFormat outputMode showOptParam
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set positioning data format String NPOSPoseDataFormat
OutputMode If set to 1 the NAV350 extrapolates the calcu- Enum_8 0 = normal
lated position data to the point in time of 1 = extrapolated (Default)
transmission.
ShowOptParam Select the transmission of the Bool_1 0 = suppressed (Default)
optional parameter 1 = enabled

Response
Command Syntax: sWA NPOSPoseDataFormat
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Set positioning data format String NPOSPoseDataFormat

Request Read
Command Syntax: sRN NPOSPoseDataFormat
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read positioning Data Format String NPOSPoseDataFormat

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Response
Command Syntax: sRA NPOSPoseDataFormat outputMode showOptParam
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read positioning Data Format String NPOSPoseDataFormat
OutputMode If set to 1 the NAV350 extrapolates the Enum_8 0 normal
calculated position data to the point in 1 extrapolated
time of transmission.
ShowOptParam Select the transmission of the Bool_1 0 suppressed
optional parameter 1 enabled

2.1.10 Command: Set Landmark Data Format

The command Set Landmark Data Format controls the output format of landmarks, which can be retrieved
with the method NLMDGetData (p.65) and method mNPOSGetData (p.73). After each reboot of the device
all settings are back to the default settings.

Request Write
Command Syntax: sWN NLMDLandmarkDataFormat format showOptParam landmarkFilter
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set landmark data format String NLMDLandmarkDataFormat
Format Select Cartesian or polar Enum_8 0 = Cartesian (Default)
1 = polar
ShowOptParam Select transmission of the optional Bool_1 0 = suppress (Default)
landmark parameters localID (local ID), 1 = enable
ID (global ID), type, subtype , quality
(reliability), timestamp, size, hitCount
(number of hits) and meanEcho
LandmarkFilter Select transmission of the optional Enum_8 0 = used
landmark data in positioning mode with 1 = detected (Default)
NPOSGetData
2 = expected landmark

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Response
Command Syntax: sWA NLMDLandmarkDataFormat
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Selected landmark data format String NLMDLandmarkDataFor-
mat

Request Read
Command Syntax: sRN NLMDLandmarkDataFormat
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read landmark data format String NLMDLandmarkDataFor-
mat

Response
Command Syntax: sRA NLMDLandmarkDataFormat format showOptParam landmarkFilter
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read landmark data format String NLMDLandmarkDataFormat
Format Response Cartesian or polar Enum_8 0 = Cartesian
1 = polar
ShowOptParam Select transmission of the optional Bool_1 0 = suppress
landmark parameters localID (local 1 = enable
ID)ID (global ID), type, subtype , quality
(reliability), timestamp, size, hitCount
(number of hits) and meanEcho
LandmarkFilter Select transmission of the optional Enum_8 0 = used
landmark data in positioning mode with 1 = detected
NPOSGetData
2 = expected landmark

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2.1.11 Command: Set Scan Data Format

The command Set Scan Data Format is used to control the output format of scan data (contour data) that
uses the method NLMDGetData (p.65) and method mNPOSGetData (p.73). Default setting transmits all
scan data. After each reboot of the devices all settings are reset to the default settings

Request Write
Command Syntax: sWN NAVScanDataFormat dataMode showRSSI
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set scan data format String NAVScanDataFormat
DataMode Select distance and/or angle Enum_8 0 = none
1 = distance only (Default)
2 = distance and angle
ShowRSSI Set transmission of remission data Bool_1 0 = suppress (Default)
(echo) 1 = enable

Response
Command Syntax: sWA NAVScanDataFormat
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Settings of scan data format String NAVScanDataFormat

Request Read
Command Syntax: sRN NAVScanDataFormat
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read scan data format String NAVScanDataFormat

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Response
Command Syntax: sRA NAVScanDataFormat dataMode showRSSI
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Select scan data format String NAVScanDataFormat
DataMode Select distance and/or angle Enum_8 0 = none
1 = distance only
2 = distance and angle
ShowRSSI Selected transmission of remission data Bool_1 0 = suppress
(echo) 1 = enable

2.1.12 Command: Set Hardware Time Sync

This command parameterizes the hardware time sync output.
There are 2 modes to configure the hardware time synchronization:
1) cyclic
Cycle time in ms modulo base 2 is based on the global device timer. The hardware output toggles after the
cycle determined with mask.
Mask = 10  The output toggles every time the global timer has a roll-over in the lower 10 bits.
Examples: Mask Cycle time
8 256 ms
10 1024 ms
15 32768 ms

The synchronization can be done, if the same mask is used on the data timestamps.
2) on request
If the command “Synchronize Timestamp” (p.45) is used, the output toggles when the NAV350 timestamp
is loaded to the response of mNAVGetTimestamp.

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Request Write
Command Syntax: sWN NAVHardwareTimeSync mode mask
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set Hardware Time Sync String NAVHardwareTimeSync
Mode Setting cycling pulse or on Enum_8 0 = cyclic pulse
command synchronize timestamp 1 = on request (Default)
Mask Cycle time in bit (modulo base 2) UInt_8 10…20 bit
(Default: 15 bit)

Response
Command Syntax: sWA NAVHardwareTimeSync
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Set Hardware Time Sync String NAVHardwareTimeSync

Request Read
Command Syntax: sRN NAVHardwareTimeSync
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sRN

Command Set Hardware Time Sync String NAVHardwareTimeSync

Response
Command Syntax: sRA NAVHardwareTimeSync mode mask
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sRA

Command Set Hardware Time Sync String NAVHardwareTimeSync
Mode Set cycling pulse or on command synchro- Enum_8 0 = cyclic pulse
nize timestamp 1 = on request
Mask Cycle time in bit (modulo base 2) UInt_8 10…20 bit

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2.1.13 Command: Set Reflector Size

This command parameterizes the reflector size.

Request Write
Command syntax: sWN NLMDReflSize size
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set reflector size String NLMDReflSize
Size Size of reflector (diameter in case of cylin- UInt_16 1 ... 150 mm
drical reflectors) (Default: 80 mm)

Response
Command syntax: sWA NLMDReflSize
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Set reflector size String NLMDReflSize

Request Read
Command syntax: sRN NLMDReflSize
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Read reflector size String NLMDReflSize

Response
Command syntax: sRA NLMDReflSize size
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Read reflector size String NLMDReflSize
Size Size of reflector (diameter in case of cylindri- UInt_16 1 ... 150 mm
cal reflectors)

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2.1.14 Command: Set Reflector Type

This command parameterizes the reflector type (flat or cylindrical).

Request Write
Command syntax: sWN NLMDReflType type
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set reflector type String NLMDReflType
Type Type of reflector Enum_8 1 = flat
2 = cylindric (Default)

Response
Command syntax: sWA NLMDReflType
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Set reflector type String NLMDReflType

Request Read
Command syntax: sRN NLMDReflType
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Get reflector type String NLMDReflType

Response
Command syntax: sRA NLMDReflType type
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Get reflector type String NLMDReflType
Type Type of reflector Enum_8 1 = flat
2 = cylindric

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2.1.15 Command: Set Landmark Matching

In this command you can set the rules for detecting reflectors. Detection can be can be optimized in order
to achieve a higher accuracy or all visible landmarks are accepted for a higher availability of reflectors.

Request Write
Command syntax: sWN NLMDLandmarkMatching filter
Command part Description Type Range/Value

Command type Request (SOPAS write by name) String sWN

Command Set reflector type String NLMDLandmarkMatching
Filter Choose between the acceptance of only Enum_8 0 = optimal (Default)
optimal detected reflectors (0), optimal and 1 = optimal +angle
from a flat angle detectedreflectors (1) or
2 = optimal + angle + partly
the two first options plus partly covered re-
covered
flectors (2).
The givcen specifications are only valid for
the “optimal” setting

Response
Command syntax: sWA NLMDLandmarkMatching
Command part Description Type Range/Value

Command type Response (SOPAS write by name) String sWA

Command Set reflector type String NLMDLandmarkMatching

Request Read
Command syntax: sRN NLMDLandmarkMatching
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Get reflector type String NLMDLandmarkMatching

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Response
Command syntax: sRA NLMDLandmarkMatching filter
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Get reflector type String NLMDLandmarkMatching
Filter Choose between the acceptance of only opti- Enum_8 0 = optimal (Default)
mal detected reflectors (0), optimal and from a 1 = optimal +angle
flat angle detectedreflectors (1) or the two first
2 = optimal + angle +
options plus partly covered reflectors (2).
partly covered
The givcen specifications are only valid for the
“optimal” setting

2.1.16 Command: Set Sector Muting

By activating up to four sectors, it is possible to mute different angle ranges of the scanner.

Request Write
Command syntax: sWN NLMDMutedSectors sector0 sector1 sector2 sector3
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sWN

Command Configuration of sector muting String NLMDMutedSectors
AngleFrom Start angle of the sector UInt_32 0 … 359 999 mdeg
(Default: 0)
AngleTo End angle of the sector UInt_32 0 ... 359 999 mdeg
(Default: 0)
4 x sector

Active Activation of the sector Bool_1 0 = inactive (Default)

1 = active

Response
Command syntax: sWA NLMDMutedSectors
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sWA

Command Configuration of sector muting String NLMDMutedSectors

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Request Read
Command syntax: sRN NLMDMutedSectors
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Configuration of sector muting String NLMDMutedSectors

Response
Command syntax: sRA NLMDMutedSectors sector0 sector1 sector2 sector3
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Configuration of sector muting String NLMDMutedSectors
AngleFrom Start angle of the sector UInt_32 0 … 359 999 mdeg
AngleTo End angle of the sector UInt_32 0 … 359 999 mdeg
4 x sector

Active Activation of the sector Bool_1 0 = inactive

1 = active

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2.1.17 Command: Set Orientation Coordinate System

For devices mounted upside down the coordinate system may be mirrored. This variable serves to define
the orientation. Default value for an upright mounted NAV350 is 1 = counterclockwise.

Request Write
Command syntax: sWN NEVACoordOrientation direction (according SU)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sWN

Command Set rotate direction relative to global coor- String NEVACoordOrientation
dinate system
Direction Set orientation of the coordinate system Enum_8 0 = clockwise
1 = counterclockwise (De-
fault)

Response
Command syntax: sWA NEVACoordOrientation
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sWA

Command Set orientation of the coordinate system String NEVACoordOrientation

Request Read
Command syntax: sRN NEVACoordOrientation
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Set orientation of the coordinate system String NEVACoordOrientation

Response
Command syntax: sRA NEVACoordOrientation direction
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Set orientation of the coordinate system String NEVACoordOrientation
Direction Set orientation of the coordinate system Enum_8 0 = clockwise
1 = counterclockwise

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2.1.18 Command: Set N Closest Reflectors

This command sets the maximum quantity of closest reflectors, which are used by the positioning. This has
to be at least 3 reflectors. If N = 0, all valid reflectors are chosen. The quantity of “N closest reflectors” may
be changed while landmark detection or positioning.

Request Write
Command syntax: sWN NLMDnClosest nClosest (according: PC)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sWN

Command Set N closest reflectors String NLMDnClosest
NClosest Quantity of N closest reflectors UInt_8 0 ... 40
(Default: 0)

Response
Command syntax: sWA NLMDnClosest
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sWA

Command Set N closest reflectors String NLMDnClosest
Request Read
Command syntax: sRN NLMDnClosest
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Readout quantity N closest reflectors String NLMDnClosest

Response
Command syntax: sRA NLMDnClosest nClosest
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Return quantity of N closest reflectors String NLMDnClosest
NClosest Quantity of N closest reflectors UInt_8 0 ... 40

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2.1.19 Command: Set Action Radius

The action radius defines an area in the surrounding of NAV350. The reflectors within the limited area are
preferred in positioning.
The parameters rFr and rTo define this area as a circular ring. With this command the action radius area
may be changed while landmark detection or positioning.
Default: rFr = 500 mm, rTo = 70000 mm.

Request Write
Command syntax: sWN NLMDActionRadius rFr rTo (according: PO)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sWN

Command Set Action Radius String NLMDActionRadius
RFr Minimum Actions Radius UInt_32 400 ... 70 000 mm
(Default: 500)
RTo Maximum Action Radius UInt_32 400 ... 70 100 mm
(Default: 70 000)

Response
Command syntax: sWA NLMDActionRadius
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sWA

Command Set action radius String NLMDActionRadius

Request Read
Command syntax: sRN NLMDActionRadius
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Request action radius String NLMDActionRadius

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Response
Command syntax: sRA NLMDActionRadius rFr rTo
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Request action radius String NLMDActionRadius
RFr Minimum Actions Radius UInt_32 400 ... 70 000 mm
RTo Maximum Action Radius UInt_32 400 ... 70 100 mm

2.1.20 Command: Set Reflector Threshold

To suppress false reflections, the NAV350 uses an internal, distance related threshold curve. It is based on
device specific calibration on white and reflector foil (Diamond Grade 983-10).
By setting the threshold parameter it is possible to adapt the filter to specific environments.
A lowering of the threshold curve will also reduce the signal-to-noise ratio between reflectors and natural
materials. Raising the threshold curve will reduce availability for reflector measurements.
0% means white remission, 100% reflector remission.

Request Write
Command syntax: sWN NLMDReflThreshold percent (according: RP, SP)
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sWN

Command Set reflector threshold String NLMDReflThreshold
Percent Reflector threshold value in percent UInt_8 0…100 in %
(Default: 35)

Response
Command syntax: sWA NLMDReflThreshold
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sWA

Command Set reflector threshold String NLMDReflThreshold

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Request Read
Command syntax: sRN NLMDReflThreshold
Command part Description Type Range/Value

Command type Request (SOPAS read by name) String sRN

Command Request Reflector Threshold String NLMDReflThreshold

Response
Command syntax: sRA NLMDReflThreshold percent
Command part Description Type Range/Value

Command type Response (SOPAS read by name) String sRA

Command Request Reflector Threshold String NLMDReflThreshold
Percent Reflector threshold value in percent UInt_8 0…100 in %

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2.2 Method Call

Calling a method by command, instructs the NAV350 to process data or measurements. Methods can be
called including data to be processed. The method responds with a structure of one or more return values.
Whether a method can be called depends on the user level.

The NAV350 processes two types of methods that are synchronous or asynchronous methods:
 Synchronous commands sMN block the NAV350 until the results of the method are returned by sAN.
 Asynchronous commands sMN do not keep the NAV350 busy. The first response is a method acknowl-
edge by sMA, indicating that the method has been started. After execution the scanner returns the re-
sult by sAN. Some asynchronous methods can be called with an input parameter, instructing the
method to respond either immediately with the last valid value or with an acknowledgement followed
by a new calculated result after processing.

2.3 Methods Accessible from all Modes except POWERDOWN

General methods can be selected from any mode except POWERDOWN.

2.3.1 Command: Set Operating Mode

This asynchronous method selects the NAV350 operating mode. The command will be acknowledged im-
mediately by mNEVAChangeState with "sMA" followed by the response "sAN mNEVAChangeState" as soon
as the mode has been changed. The default mode after switch-on is STANDBY.

Attention: From the POWERDOWN mode it is only possible to switch to the STANDBY mode and also to re-
turn to POWERDOWN, the mode has to be changed to STANDBY first.

Request
Command Syntax: sMN mNEVAChangeState mode (according: SA, DA, UA, RA, MA, PA, PN)
Command part Description Type Range/Value

Command type Request (SOPAS method by name) String sMN

Command Set operating mode String mNEVAChangeState
Mode Number of valid operating mode. Enum_8 0 = power down
1 = standby (Default)
2 = mapping
3 = landmark detection
4 = navigation

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Response (Method Acknowledge)

Command Syntax: sMA mNEVAChangeState
Command part Description Type Range/Value

Command type Response String sMA

(SOPAS method acknowledge by name)
Command Asynchronous Method Set Operating String mNEVAChangeState
mode

Response after Execution

Command Syntax: sAN mNEVAChangeState errorCode mode
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS answer)
Command Set Operating mode String mNEVAChangeState
ErrorCode Error number Enum_8 0 = no error
1 = invalid change
2 = method break
3 = unknown operating
mode
5 = timeout
6 = method break; another
command is active
7 = general error
Mode Operating mode after execution Enum_8 0 = power down
1 = standby
2 = mapping
3 = landmark detection
4 = navigation

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2.3.2 Command: Set User Level

Selects a user level and transfers its password to the NAV350. The password is encoded (Hash Value)

User level Password Hash-Value

Operator main B21ACE26
Authorized client client F4724744

Request
Command Syntax: sMN SetAccessMode newMode password
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Set user level String SetAccessMode
NewModel User level code Int_8 2 = operator
3 = authorized client
Password Password Hash Value UInt_32 00000000 … FFFFFFF

Response
Command Syntax: sAN SetAccessMode success
Command part Description Type Range/Value

Command type Request String sAN

(SOPAS answer)
Command Set user level String SetAccessMode
Success Mode successfully set Bool_1 0 = no
1 = yes

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2.3.3 Command: Store Data Permanent

This command stores all settings of the NAV350 permanent, to be recalled after power on.

Request
Command Syntax: sMN mEEwriteall
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Store data permanent String mEEwriteall

Response
Command Syntax: sAN mEEwriteall success
Command part Description Type Range/Value

Command type Response (SOPAS answer) String sAN

Command Store data permanent String mEEwriteall
Success Shows if the command was successful. Bool_1 0 = no
1 = yes

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2.3.4 Command: Synchronize Timestamp

This command returns the internal timestamp of the NAV350 to synchronize it with the vehicle controller’s
clock. The NAV350 clock is a free running UInt_32 counter with 1ms increment. While reading the time-
stamp, a pulse is generated on the digital output to compensate the transmission time, if necessary.

Request
Command Syntax: sMN mNAVGetTimestamp
Command part Description Type Range/Value

Command type Request (SOPAS method by name) String sMN

Command Sync Timestamp String mNAVGetTimestamp

Response
Command Syntax: sAN mNAVGetTimestamp errorCode timestamp
Command part Description Type Range/Value

Command type Response (SOPAS answer) String sAN

Command Sync Timestamp String mNAVGetTimestamp
ErrorCode Error number Enum_8 0 = no error
1 = invalid operating mode
7 = general error
Timestamp Internal NAV350 timestamp UInt_32 0…4 294 967 295 ms
(0xffffffff)

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2.3.5 Command: Break Asynchronous Method

Stops all running asynchronous method calls (sMN). The stopped methods respond with the error code 2
Method break.

Request
Command Syntax: sMN mNAVBreak
(according: XB)
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Break Asynchronous Method String mNAVBreak

Response
Command Syntax: sAN mNAVBreak errorCode count
Command part Description Type Range/Value

Command type Response (SOPAS method by name) String sAN

Command Break Asynchronous Method String mNAVBreak
ErrorCode Error number. Enum_8 0 = no error
7 = general error
Count Number of terminated Methods UInt_8 0 … 255

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2.3.6 Command: Device Reset

Runs a device reset and recalls all permanent stored parameters or sets it to default, if not stored.
This command responds an acknowledgement prior terminating the interface connection for reset.

Request
Command Syntax: sMN mNAVReset (according: XR)
Command part Description Type Range/Value

Command type Request (SOPAS method by name) String sMN

Command Device reset String mNAVReset

Response
Command Syntax: sAN mNAVReset errorCode
Command part Description Type Range/Value

Command type Response (SOPAS method by name) String sAN

Command Device reset String mNAVReset
ErrorCode Error number Enum_8 0 = no error
1 = invalid mode
7 = general error

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2.4 Methods in STANDBY Mode

2.4.1 Command: Serial Interface Configuration

The method configures the serial interface. After the response the settings are valid without reboot. The
command responds with the new setting.

Request
Command Syntax: sMN mChangeSerialCfg baudrate databits parity stopbits (according: SB)
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Serial configuration String mChangeSerialCfg
Baudrate Baudrate Enum_8 0 = 19200
1 = 38400
2 = 57600
3 = 115200 (Default)
Data bits Number of data bits in each character UInt_8 7 = 7 Data bits
8 = 8 Data bits (Default)
Parity Parity check Enum_8 0 = none
1 = odd
2 = even (Default)
3 = mark
4 = space
Stopbits Stopbits UInt_8 1 (Default)

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Response
Command Syntax: sAN mChangeSerialCfg errorCode baudrate databits/parity stopbits
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Serial configuration String mChangeSerialCfg
ErrorCode Error number Enum_8 0 = no error (Default)
1 = invalid baudrate
2 = invalid databits
3 = invalid parity
4 = invalid stopbits
5 = multiple invalid parame-
ter
6 = invalid databit/parity-
combination
7 = general error
Baudrate Baudrate Enum_8 0 = 19200
1 = 38400
2 = 57600
3 = 115200 (Default)
Data bits Number of data bits in each character UInt_8 7 = 7 data bits
8 = 8 data bits (Default)
Parity Parity check Enum_8 0 = none
1 = odd
2 = even (Default)
3 = mark
4 = space
Stopbits Stopbits UInt_8 1 (Default)

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2.4.2 Command: Change IP Configuration

This command changes the IP configuration of the Ethernet interface. The settings made here will be ig-
nored if DHCP is enabled by mEnableDHCP (p.52). To activate the settings, it is necessary to run a device
reset (sMN mNAVReset (p.47). The command responds with the new settings.

Request
Command Syntax: sMN mChangeIPCfg IP mask gateway
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Change IP configuration String mChangeIPCfg
IP IP-Address 4x UInt_8 0…255 (4x)
Mask Subnetmask 4x UInt_8 0…255 (4x)
Gateway Gateway 4x UInt_8 0…255 (4x)

Response
Command Syntax: sAN mChangeIPCfg errorCode IP mask gateway
Command part Description Type Range/Value

Command type Response (SOPAS method by name) String sAN

Command Change IP configuration String mChangeIPCfg
ErrorCode Error number Enum_8 0 = no error (Default)
1 = DHCP active (warning)
7 = general error
IP IP-Address 4x UInt_8 0…255 (4x)
Mask Subnetmask 4x UInt_8 0…255 (4x)
Gateway Gateway 4x UInt_8 0…255 (4x)

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2.4.3 Command: Change Ethernet Configuration

This method configures the Ethernet interface. After the response, a reset of the device with the command
sMN mNAVReset (p.47) is needed to activate the settings. The device returns the new settings.

Request
Command Syntax: sMN mChangeEthrCfg speedDuplex
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Change IP configuration String mChangeEthrCfg
SpeedDuplex Interface speed and duplex mode Enum_8 0 = auto (Default)
1 = 10MB half
2 = 10MB full
3 = 100MB half
4 = 100MB full

Response
Command Syntax: sAN mChangeEthrCfg errorCode speedDuplex
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Change IP configuration String mChangeEthrCfg
ErrorCode Error number Enum_8 0 = no error (Default)
1 = invalid value
7 = general error
SpeedDuplex Interface speed and duplex mode Enum_8 0 = auto (Default)
1 = 10MB half
2 = 10MB full
3 = 100MB half
4 = 100MB full

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2.4.4 Command: DHCP Enabled / Disabled

This method enables or disables DHCP. If DHCP is enabled, the IP configuration is ignored. If the command
does not change the DHCP state, the command responds "no error” and the existing state. If the command
changes the DHCP state, the NAV350 responds the new settings and runs a reboot. After the reboot the
NAV350 obtains a new IP Address by DHCP. If DHCP is enabled, but no DHCP server available, the static IP
address is used.

Request
Command Syntax: sMN mEnableDHCP DHCP
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command DHCP enable / disable String mEnableDHCP
DHCP Enable/Disable DHCP Bool_1 0 = disabled (Default)
1 = enabled

Response
Command Syntax: sAN mEnableDHCP errorCode DHCP
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command DHCP enable / disable String mEnableDHCP
ErrorCode Error number Enum_8 0 = no error (Default)
7 = general error
DHCP Enable/Disable DHCP Bool_1 0 = disabled (Default)
1 = enabled

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2.4.5 Command Add Landmark

This command adds 1 to 50 reflector landmarks to the NAV350 layout memory.
The NAV350 responds with a list of assigned global reflector landmark IDs after execution.

Request :
Command Syntax: sMN mNLAYAddLandmark landmarkData {x y type subtype size layerID {ID}}
(according: DR, SI, RS, BS)
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Add landmark String mNLAYAddLandmark
LandmarkData Number of landmarks follow UInt_16 1…50
X X-Position Int_32 -10 000 000 …
+10 000 000 mm
Y Y-Position Int_32 -10 000 000 …
+10 000 000 mm
Type Landmark type Enum_8 0 = undefined
Landmark data

1 = reflector (fix)
Subtype Reflector type Enum_8 0 = undefined
1 = flat
2 = cylindric
Size Size: Diameter or width UInt_16 0…200 mm
(Default: 80 mm)
LayerID Layer IDs assigned, 1..3 follow UInt_16 1…3
Layer ID Layers ID UInt_16 0…319

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Response
Command Syntax: sAN mNLAYAddLandmark errorCode landmarkData {globalID}
Command part Description Type Range/Value

Command type Response (SOPAS method by name) String sAN

Command Add landmark String mNLAYAddLandmark
ErrorCode Command accepted if errorCode = 0 Enum_8 0 = no error (default)
1 = invalid mode
3 = invalid data
7 = general error
LandmarkData Number of landmarks UInt_16 1…50
LMD GlobalID Assigned global ID UInt_16 0…11 999

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2.4.6 Command: Edit Landmark

This Command edits 1 to 50 reflector landmarks. If the global ID is not assigned, a new landmark will be
added in the layout memory of the NAV350. If the global ID is already assigned to a reflector landmark, the
reflector of this global ID will be modified.

Request
Command Syntax: sMN mNLAYSetLandmark landmarkData {globalID X Y type subtype size layerID {ID}}
(according: SC, RS, BS)
Command part Description Type Range/Value

Command type Request (SOPAS method by name) String sMN

Command Edit landmark String mNLAYSetLandmark
LandmarkData Number of landmarks follow UInt_16 1…50
GlobalID Global ID of the landmark to add or to UInt_16 0…11 999
modify.
X X-Position Int_32 -10 000 000 …
+10 000 000 mm
Y Y-Position Int_32 -10 000 000 …
Landmark data

+10 000 000 mm

Type Landmark type Enum_8 0 = undefined
1 = reflector
Subtype Reflector type Enum_8 0 = undefined
1 = flat
2 = cylindric
Size Size: Diameter or width UInt_16 0…200 mm
(Default 80 mm)
LayerID Layer IDs assigned, 1..3 follow UInt_16 1…3
Layer ID Layer ID UInt_16 0…319

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Response
Command Syntax: sAN mNLAYSetLandmark errorCode
Command part Description Type Range/Value

Command type Response (SOPAS method by name) String sAN

Command Edit landmark String mNLAYSetLandmark
ErrorCode Command accepted if errorCode = 0 Enum_8 0 = no error (default)
1 = invalid mode
3 = invalid data
7 = general error

2.4.7 Command: Delete Landmark

This Command deletes 1 to 50 reflector landmarks.
Request
Command Syntax: sMN mNLAYDelLandmark landmarkData {globalID} (according: SD)
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Delete landmark String mNLAYDelLandmark
LandmarkData Number of landmarks follow for delete UInt_16 1…50
LMD GlobalID Global ID of the landmark to be deleted UInt_16 0…11 999

Response
Command Syntax: sAN mNLAYDelLandmark errorCode
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Delete landmark String mNLAYDelLandmark
ErrorCode Command accepted if errorCode = 0 Enum_8 0 = no error
1 = invalid mode
3 = invalid Data
7 = general error

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2.4.8 Command: Read Landmark

This Command reads 1 to 50 reflector landmarks of the layout memory of the NAV350.

Request
Command Syntax: sMN mNLAYGetLandmark landmarkData {globalID} (according: UR, SR, RG, BR)
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Read landmark String mNLAYGetLandmark
LandmarkData Set the number of landmarks for read UInt_16 1…50
LMD GlobalID Global ID of the transmitted landmark UInt_16 0…11 999

Response
Command Syntax: sAN mNLAYGetLandmark errorCode landmarkData {globalID x y type subtype size lay-
erID {ID}}
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Read landmark String mNLAYGetLandmark
ErrorCode Command accepted if errorCode = 0. Enum_8 0 = no error
1 = invalid mode
3 = invalid Data
7 = general error
LandmarkData Number of landmarks follow UInt_16 1…50
GlobalID Global ID of the landmark for read. UInt_16 0…11 999
X X-Position Int_32 -10 000 000 …
+10 000 000 mm
Landmark Data

Y Y-Position Int_32 -10 000 000 …

+10 000 000 mm
Type Landmark type Enum_8 0 = undefined
1 = reflector (fix)
Subtype Reflector type Enum_8 0 = undefined
1 = flat
2 = cylindric

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Size Size: Diameter or width UInt_16 1…150 mm

(Default: 80 mm)
LayerID Layer IDs assigned, 1..3 follow UInt_16 1…3
Layer ID Layer ID UInt_16 0…319

2.4.9 Command : Read Layer

This Command reads the global IDs of all reflector landmarks in the current layer.

Request
Command Syntax: sMN mNLAYGetLayer layerID
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Get Layer String mNLAYGetLayer
LayerID ID of the Layer UInt_16 0…319

Response
Command Syntax: sAN mNLAYGetLayer errorCode globalID{globalID}
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Get Layer String mNLAYGetLayer
ErrorCode Command accepted if errorCode = Enum_8 0 = no error (Default)
0 1 = invalid mode
3 = invalid Data
7 = general error
GlobalID Number of global Reflector IDs fol- UInt_16 0…12 000
low
Data GlobalID Global ID of the landmark UInt_16 0…11 999

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2.4.10 Command: Read Layout

This Command reads all the global IDs of all landmarks in the layout memory of the NAV350

Request
Command Syntax: sMN mNLAYGetLayout
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Read Layout String mNLAYGetLayout

Response
Command Syntax: sAN mNLAYGetLayout errorCode globalID {globalID}
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Read Layout String mNLAYGetLayout
ErrorCode Command accepted if errorCode = 0 Enum_8 0 = no error (Default)
1 = invalid mode
3 = invalid Data
7 = general error
GlobalID Number of IDs follow UInt_16 0…12 000
Data GlobalID Global ID of existing landmarks UInt_16 0…11 999

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2.4.11 Command: Erase Layout

This Command erases all landmarks in the layout memory of the NAV350

Request :
Command Syntax: sMN mNLAYEraseLayout erase
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Erase Layout String mNLAYEraseLayout
Erase Select the Memory for erase Enum_8 0 = ram
1 = ram+flash

Response
Command Syntax: sAN mNLAYEraseLayout errorCode
Command part Description Type Range/Value

Command type Response (SOPAS method by name) String sAN

Command Erase Layout String mNLAYEraseLayout
ErrorCode Command accepted if errorCode = 0 Enum_8 0 = no error
1 = invalid mode
3 = invalid data
7 general error

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2.4.12 Command: Store Layout Permanent

This Command transfers all landmarks in the layout memory of the NAV350 to the flash memory for per-
manent storage.

Request
Command Syntax: sMN mNLAYStoreLayout
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Store Layout permanent String mNLAYStoreLayout

Response
Command Syntax: sAN mNLAYStoreLayout errorCode
Command part Description Type Range/Value

Command type Response (SOPAS method by String sAN

name)
Command Store Layout permanent String mNLAYStoreLayout
ErrorCode Command accepted if errorCode = Enum_8 0 = no error (Default)
0 1 = invalid mode
7 = general error

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2.5 Methods in MAPPING Mode

2.5.1 Command: Do Mapping

In the "Mapping" mode the NAV350 measures the reflector positions visible within its range in
absolute coordinates. The measuring is related to one layer at a time, so the NAV350 must be informed of
the layer (refer to the command Set current Layer (p.20)), about its own position and orientation in the
absolute coordinate system (command Configure Mapping) and the size of the reflectors (refer to com-
mand Set Reflector Size (p.31)).
The Method Do Mapping acknowledges the start of the Method instantly and responds the results after
execution.

Request
Command Syntax: sMN mNMAPDoMapping (according: MS, MM, MN, MR)
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Do Mapping String mNMAPDoMapping

Response (Method Acknowledge)

Command Syntax: sMA mNMAPDoMapping
Command part Description Type Range/Value

Command type Response String sMA

(SOPAS method acknowledge)
Command Do Mapping String mNMAPDoMapping

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Response when Mapping is Executed

Command Syntax: sAN mNMAPDoMapping errorCode landmarkData[...]
Command part Description Type Range/Value

Command type Response (SOPAS method by String sAN

name)
Command Do Mapping String mNMAPDoMapping
ErrorCode Error code Enum_8 0 = no error (Default)
1 = wrong operating mode
2 = asynchrony Method
terminated
5 = timeout
6 = method already active
7 = general error
LandmarkData Landmark data available UInt_16 0 = no data
1 = landmark data follow
Landmark-Filter Data of seen landmarks Enum_8 0 = used
1 = seen landmark (fix)
2 = expected
Reflectors Number of reflector land- UInt_16 0…40
mark follow

Cart Cartesian coordinate data UInt_16 0 = no Cartesian data

follow follow
1 = Cartesian data follow
X X-Coordinate Int_32 -70 000…
+70 000 mm
Cart
LMD

Y Y-Coordinate Int_32 -70 000…

Landmark Data

+70 000 mm
Polar Polar coordinate data follow UInt_16 0 = no polar data follow (fix)
1 = polar data follow
Dist Distance UInt_32
Polar

Phi Orientation Uint_32

OptReflec- Optional landmark follow UInt_16 1 = optional data follow (fix)

torData
Lo- Local ID UInt_16 0…40
tional
Op-

calID

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Glob- Global ID UInt_16 0…11 999

alID
Type Landmark type Enum_8 0 = undefined
1 = reflector
Sub- Reflector type Enum_16 0 = undefined
type 1 = flat
2 = cylindrical
Quality Reserved UInt_16 0 = Reserved
Time- Timestamp UInt_32 0…4 294 967 295 ms
stamp (0xffffffff)
Size Size UInt_16 1…150 mm
(Default: 80mm)
Hit- Number of hits on the land- UInt_16 1…1440
Count mark
Mean- Mean echo value UInt_16 0…1023
Echo
Index- Scan index of the landmark UInt_16 0…1439
Begin start point
Index- Scan index of the landmark UInt_16 0…1439
End end point

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2.6 Methods in LANDMARK Mode

2.6.1 Command: Get Landmark data

This command responds the currently recognized landmarks of the NAV350, including optional scan data.
The configuration of the transferred landmark parameter is set with the command NLMDLandmarkData-
Format (p.26). By the wait parameter, a choice between the synchronous request of the last seen land-
marks and the asynchronous request of new landmarks can be made

Request
Command Syntax: sMN mNLMDGetData wait mask (according RD, RK)
Command part Description Type Range/Value

Command type Response (SOPAS method acknowledge by String sMN

name)
Command Get detected landmarks String mNLMDGetData
Wait Set last detected landmark (0) or new land- Bool_1 0 = last detected
marks (1) landmark
1 = wait for new land-
marks
Mask Select data format Enum_8 0 = reflectors
1 = reflectors +scan

Response (Method Acknowledge, the asynchronous method has started)

Command Syntax: sMA mNLMDGetData
Command part Description Type Range/Value

Command type Response (SOPAS method acknowledge by String sMA

name)
Command Asynchronous request of new landmarks String mNLMDGetData

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Response after Executing Landmark Data Request

Command syntax: sAN mNLMDGetData version errorCode wait countOfLandmarkData [LandmarkData
countOptLandmarkData [optLandmarkData]] countOfScanData [scanDaten]

Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Respond landmarks String mNLMDGetData
Version Version of this response UInt_16 0000 … FFFF
ErrorCode Error number Enum_8 0 = no error
1 = wrong operating
mode
2 = asynchronous
method terminated
3 = invalid data
5 = timeout
6 = method already
active
7 = general error
Wait Response last detected landmark (0) Bool_1 0 = synchronous:
or new landmarks last landmarks de-
tected
1 = asynchronous:
new landmarks
Mask Data format Enum_8 0 = reflectors
1 = reflectors + scan
LandmarkData Landmark transmission UInt_16 0 = no landmark data
1 = landmark data
Landmark-Filter Indicate landmarks Enum_8 0 = used
1 = detected
2 = expected
Landmark data

Reflectors Number of reflector data UInt_16 0…40

reflector data sets

Cart Indicates landmark data Cartesian or UInt_16 0 = not Cartesian

not. Selectable by 1 = Cartesian
Landmark Data

NLMDRelfDataFormat
X X-coordinate Int_32 -70 000…
Cart.

+70 000 mm

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Y Y-coordinate Int_32 -70 000…

+70 000 mm
Polar Indicates landmark data polar or not. UInt_16 0 = not polar
Selectable 1 = polar coordinates
NLMDRelfDataFormat
Dist Distance UInt_32 0…70 000 mm
Polar

Phi Angle in mdeg degree UInt_32 0…360 000 mdeg

optLand- Indicates response of optional land- UInt_16 0 = no optional data
markData marks selectable by showOptParam 1 = optional reflector
in data
NLMDRelfDataFormat
LocalID Local ID UInt_16 0…40
Glob- Global ID UInt_16 0…11 999
alID
Type Landmark type Enum_8 0 = undefined
1 = reflector
Sub- Reflector type Enum_16 0 = undefined
type 1 = flat
2 = cylindric
Optional Reflector Data

Quality Quality (reliability) UInt_16 reserved

Time- timestamp UInt_32 0…
stamp 4 294 967 295ms
(0xffffffff)
Size Size UInt_16 1…150 mm
(Default: 80mm)
Hit- Number of hits UInt_16 1…1440
Count
Mean- Mean Echo Amplitude UInt_16 0…1023
Echo
Index- Start Index of the reflector UInt_16 0…1439
Begin
Index- End Index of the reflector UInt_16 0…1439
End

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NAVscanData Indicates the number of output chan- UInt_16 0 = no scan data

nels of the Scan data; 1 = one output chan-
Channel with 32 bit values nel for scan data
(distance)
2 = two output chan-
nels for scan data (dis-
tance + echo)
AContentType Content of the channel. String DIST1 : distance
ANGL1 : angle
DScaleFactor Multiplier Real 1 (for NAV350 always)
DScaleOffset Offset Real 0 (for NAV350 always)
DiStartAngle Start angle of the Scans Int_32 0…+360 000 mdeg
Scan Data

UiAngleRes Angular step UInt_16 1/1000 degree

UiTimestampStart Timestamp Start of scan UInt_32 ms
AData Number of scan data UInt_16 0…1440
AData Scan data 1 to n. UInt_32 00000000…
DIST in mm, ANGL in 1/10.000 de- FFFFFFFF
Scan

gree
NAVRemissionData Indicates a 16 bit channel is enabled UInt_16 0 = no remission data
for remission data 1 = one channel for
remission data
AContentType Type of data String RSSI1 Remission

DScaleFactor Multiplier Real 1 (for NAV350 always)

Remissions-Scan Data

DScaleOffset Offset Real 0 (for NAV350 always)

DiStartAngle Start angle of the Scans Int_32 0…+360 000 mdeg

UiAngleRes Angular step UInt_16 1/1000 degree ;
250 mdeg (fix)

UiTimestampStart Timestamp Start of scan UInt_32 ms

AData Number of scan data UInt_16 0…1440

AData Scan data 1 to n UInt_16 0000…FFFF

Scan

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2.7 Methods in NAVIGATION Mode

2.7.1 Command: Position Request

In the “Navigation” mode (determining position) the NAV350 continuously calculates its own position and
orientation from the known position of the reflectors in an absolute coordinate system.
This position data is made available for transmission. The NAV350 takes account of its own onward move-
ment by means of consistently using the velocity vector, i.e. the system delivers its position and direction
extrapolated at the point in time of data transmission or related to the timestamp provided in the response.
If beside the pose data also the contour (scan) data and/or relative landmark data is needed, the com-
mand Position Data Request (mNPOSGetData , p,73) has to be used.
The method mNPOSGetPose acknowledges the start of the Method instantly and responds the results after
execution.
To configure the output data refer to the command NPOSPoseDataFormat (p.25).

Request
Command Syntax: sMN mNPOSGetPose wait (according: PP, PV, Pv, Pw)
Command part Description Type Range/Value

Command type Request (SOPAS method by name) String sMN

Command Position Request String mNPOSGetPose
Wait If set to 1 the NAV350 waits for the Bool_1 0 = instantly last pose
next calculated position data. If set to result
0 the NAV350 respond the position 1 = wait for next pose
result instantly, valid at the timestamp result
in the pose response

Response (Method Acknowledge, indicates NPOSGetPose has started)

Command Syntax: sMA mNPOSGetPose
Command part Description Type Range/Value

Command Type Response String sMA

(SOPAS method acknowledge)
Command Get pose String mNPOSGetPose

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Response after Executing mNPOSGetPose

Command Syntax: sAN mNPOSGetPose version errorCode wait poseData [ pose data [x y phi] optPose-
Data [outputMode timestamp meanDev navMode infoState quantUsedReflectors]]
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command GetPose String mNPOSGetPose
Version Version of POSE Data UInt_16 0000 … FFFF
ErrorCode Error code Enum_8 0 = no error
1 = wrong operating
mode
2 = asynchrony Method
terminated
3 = invalid data
4 = no position avail-
able
5 = timeout
6 = method already
active
7 = general error
Wait If set to 1 the NAV350 waits for the Bool_1 0 = synchronous:
next calculated position data. If set last position result
to 0 the NAV350 respond the posi- 1 = asynchronous:
tion result instantly, valid at the new calculated position
timestamp in the pose response
PoseData Set to1, if pose data follow UInt_16 0 = no pose data
1 = pose data follow
X X-Position Int_32 -10 000 000 …
+10 000 000 mm
Y Y-Position Int_32 -10 000 000 …
+10 000 000 mm
Pose Data

Phi Orientation UInt_32 0…360000 mgrad

OptPoseData Set to 1, if optional pose data follow UInt_16 0 = no optional data
1 = optional data follow
output- Data are instantly or Enum_8 0 = instantly
OPD

Mode extrapolated 1 = extrapolated

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Time- Timestamp UInt_32 0…4 294 967 295 ms

stamp (0xffffffff)
Mean- Mean deviation Int_32 0… 2000 mm
Dev
Nav- Position mode Enum_8 0 = initial positioning
Mode 1 = continuous
positioning
2 = virtual positioning
3 = positioning stopped
4 = position invalid
5 = external
InfoState Diagnosis Information UInt_32 Information is shown in
the table below
NumUse Number of used Reflectors UInt_8 0…40
dReflec-
tors

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InfoState
Bit Description
0x 00 00 01 00 No external speed available
0x 00 00 02 00 No internal speed available
0x 00 00 04 00 Internal prediction used
0x 00 00 08 00 Simple prediction used
0x 00 00 10 00 No prediction used
0x 00 00 20 00 No speed compensation done
0x 00 00 40 00 Not enough landmarks in layer
0x 00 00 80 00 No landmarks available
0x 00 01 00 00 Not enough landmarks in layer for initialization
0x 00 02 00 00 Not enough landmarks available
0x 00 04 00 00 Less than 3 landmarks used
0x 00 08 00 00 Positioning failed
0x 00 10 00 00 Positioning reinitialized with internal speed
0x 00 20 00 00 Positioning reinitialized
0x 00 40 00 00 Positioning reinitialized
0x 00 00 00 01 Position is extrapolated
0x 00 00 00 02 Filter operating radii was skipped
0x 00 00 00 04 Filter sector muting was skipped
0x 00 00 00 08 Filter NClosest was skipped
0x 01 00 00 00 Speed computation done
0x 02 00 00 00 Prediction done
0x 04 00 00 00 Correlation done
0x 08 00 00 00 Reinitialized
0x 10 00 00 00 Reinitialized
0x 20 00 00 00 Landmark selection done
0x 40 00 00 00 Positioning done
0x 80 00 00 00 Positioning finished

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NAV350 Telegram Listing

2.7.2 Command: Position Data Request

This command operates equal to the command position request mNPOSGetPose (p.69) with the extension
to also provide the scan data and relative landmark data.

Request
Command Syntax: sMN mNPOSGetData wait mask (according: PP, PV, Pv, Pw)
Command part Description Type Range/Value

Command type Request (SOPAS method by name) String sMN

Command Position data request String mNPOSGetData
Wait If set to 1 the NAV350 waits for the next calcu- Bool_1 0 = instantly last pose
lated position data. result
If set to 0 the NAV350 respond the position re- 1 = wait for next pose
sult instantly, valid at the timestamp in the pose result
response
Mask Select the set of data Enum_8 0 = pose+reflectors
1 = pose+scan
2 = pose+reflectors+
scan

Response (Method Acknowledge, indicates mNPOSGetData has started)

Command Syntax: sMA mNPOSGetData
Command part Description Type Range/Value

Command type Response String sMA

(SOPAS method acknowledge)
Command Position data request String mNPOSGetData

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Response after Executing Position Data Request

Command Syntax: sAN mNPOSGetData version errorCode wait poseData [x y phi optPoseData [output-
Mode timestamp meanDev navMode infoState quantUsedReflectors]] landmarkData [landmarkFilter re-
flectors [cart [X Y] polar [D Phi] optLandmarkData [optLandmarkData…]]] scanData [contentType scaleFac-
tor scaleOffset startAngle angleRes data [aData]]

Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Position data request String mNPOSGetData
Version Version of positioning data UInt_16 0000 … FFFF
ErrorCode ErrorCode Enum_8 0 = no error
1 = wrong operating
mode
2 = asynchrony Method
terminated
3 = invalid data
4 = no position avail-
able
5 = timeout
6 = method already
active
7 = general error
Wait If set to 1 the NAV350 waits for the Bool_1 0 = synchronous:
next calculated position data. If set last position result
to 0 the NAV350 respond the posi- 1 = asynchronous:
tion result instantly, valid at the new calculated posi-
timestamp in the pose response tion
Mask Selected set of data Enum_8 0 = pose+reflectors
1 = pose+scan
2 = pose+reflectors+
scan
PoseData Pose data follow UInt_16 0 = no pose data
1 = pose data follow
X X-Position Int_32 -10 000 000…
Pose
Data

+10 000 000 mm

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NAV350 Telegram Listing

Y Y-Position Int_32 -10 000 000…

+10 000 000 mm
Phi Orientation UInt_32 0…360 000 mdeg
OptPoseData Indicates if optional Pose data UInt_16 0 = no optional data
follow. Selected by 1 = optional data fol-
showOptParam in NPOSPoseData- low
Format
Output- Data are instantly or extrapolated Enum_8 0 = instantly
Mode 1 = extrapolated
Time- Timestamp UInt_32 0…4 294 967 295 ms
stamp (0xffffffff)
Mean-Dev Mean deviation Int_32 0… 2000 mm
Optional Pose Data

Nav-Mode Position mode Enum_8 0 = initial positioning

1 = continuous posi-
tioning
2 = virtual positioning
3 = positioning stopped
4 = position invalid
5 = external
Info-State Diagnosis Information UInt_32 reserved

Quan- Number of used Reflectors UInt_8 0…40

tUsedRe-
flectors
LandmarkData Indicates if landmark data follow UInt_16 0 = no landmark data
1 = landmark data
follow
Landmark-Filter Indicates the type of landmark Enum_8 0 = used
data ; used, seen or expected 1 = seen
2 = expected land-
marks
Landmark Data

Reflectors Number of landmark Data follow UInt_16 0…40

Cart Set to 1 if Cartesian Data follow. UInt_16 0 = no Cartesian data

Reflector Data

Selectable by format in 1 = Cartesian data

NLMDLandmarkDataFormat follow
X X-Coordinate Int_32 -70 000…
Cart.

+70 000 mm

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 NAV350 Telegram Listing

Y Y-Coordinate int_32 -70 000…

+70 000 mm
Polar Set to 1 if polar Data follow. Se- UInt_16 0 = no polar data
lectable by format in NLMDLand- 1 = polar data follow
markDataFormat
Dist Distance UInt_32 0… 70 000 mm
Polar

Phi Orientation UInt_32 0…360 000 mdeg

optLandmarkData Indicates if optional landmark data UInt_16 0 = no optional data
follow. Selected by showOptParam 1 = optional landmark
in data follow
NLMDLandmarkDataFormat
LocalID Local ID UInt_16 0…40
GlobalID Global ID UInt_16 0…11999
Type Landmark type Enum_8 0 = undefined
1 = reflector
Sub- Reflector type Enum_16 0 = undefined
Optional Reflector Data

type 1 = flat
2 = cylindric
Quality Reserved UInt_16 reserved
Time- Timestamp UInt_32 0…4 294 967 295 ms
stamp (0xffffffff)
Size Size UInt_16 1…150 mm
(Default: 80mm)
Hit- Number of hits UInt_16 1…1440
Count
Mean- Mean Echo Amplitude UInt_16 0…1023
Echo
Index- Start Index of the reflector UInt_16 0…1439
Begin
Index- End Index of the reflector UInt_16 0…1439
End
NAVscanData Indicates the number of output UInt_16 0 = no scan data
channels of the Scan data; 1 = one output channel
Channel with 32 bit values for scan data (dis-
tance)
2 = two Output chan-
nels for scan data (dis-
tance + echo)

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ContentType Content of the channel. String DIST1 : distance

ANGL1 : angle

ScaleFactor Multiplier Real 1 (for NAV350 always)

ScaleOffset Offset Real 0 (for NAV350 always)
NAVScan-Data

StartAngle Start angle of the Scans Int_32 0…+360 000 mdeg

AngleRes Angular step UInt_16 1/1000 degree ;
250 mdeg (fix)
TimestampStart Timestamp Start of scan UInt_32 ms
Data Number of scan data follow UInt_16 0…1440
AData Scan data 1 to n. UInt_32 00000000 …
DIST in mm, ANGL in 1/10.000 FFFFFFFF
Scan

degree
NAVRemissionData Indicates a 16 bit channel is en- UInt_16 0 = no remission data
abled for remission data 1 = one channel for
remission data
ContentType Type of data String RSSI1 Remission
ScaleFactor Multiplier Real 1 (for NAV350 always)
ScaleOffset Offset Real 0 (for NAV350 always)
Remissions-Scan Data

StartAngle Start angle of the Scans Int_32 0…+360 000 mdeg

AngleRes Angular step UInt_16 1/1000 degree ;
250 mdeg (fix)
TimestampStart Timestamp at start of Scan UInt_32 0…4 294 967 295 ms
(0xffffffff)
Data Number of Scan data UInt_16 0…1 440
AData Scan data 1 to n UInt_16 0000…FFFF
Scan

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 NAV350 Telegram Listing

2.7.3 Command: Velocity Input

By this command, the vehicle controller provides the current velocity vector to the NAV350 which is trans-
formed from the AGV velocity vector.

Request
Command Syntax: sMN mNPOSSetSpeed X Y Phi timestamp coordBase (according: PV, Pv, Pw)
Command part Description Type Range/Value

Command type Request (SOPAS method by name) String sMN

Command Set Velocity of the NAV350 String mNPOSSetSpeed
X X-component of velocity in the coordinate Int_16 -32 000 …
system defined by coordBase +32 000 mm/s
Y Y- component of velocity in the coordinate Int_16 -32 000 …
system defined by coordBase +32 000 mm/s
Phi Angular velocity of the NAV350 Int_32 -360 000 …
+360 000 mdeg/s
Timestamp Timestamp of the Velocity vector related to UInt_32 0…4.294.967.295 ms
the NAV350 clock (0xffffffff)
CoordBase Coordinate system of the velocity vector, Enum_8 0 = local coordinate
local or global system of the NAV350
1 = absolute coordinate
system

Response
Command Syntax: sAN mNPOSSetSpeed errorCode
Command Syntax: Description Type
sAN mNPOSSetS- Range/Value
peed errorCode
Command part
Command type Response String sAN
(SOPAS method by name)
Command Set Velocity of the NAV350 String mNPOSSetSpeed
ErrorCode Error code Enum_8 0 = no error
1 = wrong operating
mode
3 = parameter out of
range
7 = general error

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NAV350 Telegram Listing

2.7.4 Command: Set Current Position

This command sets initially the current position of the NAV350 by the vehicle controller.

Request
Command Syntax: sMN mNPOSSetPose X Y Ph
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Set current NAV350 position String mNPOSSetPose
X X-Position of the NAV350 Int_32 -10 000 000…
+10 000 000 mm
Y Y-Position of the NAV350 Int_32 -10 000 000…
+10 000 000 mm
Phi Orientation of the NAV350 Int_32 -360 000…
+360 000 mdeg

Response
Command Syntax: sAN mNPOSSetPose errorCode
Command Syntax: Description Type Range/Value
sAN mNPOSSet-
Pose errorCode
Command part
Command type Response String sAN
(SOPAS method by name)
Command Set current NAV350 position String mNPOSSetPose
ErrorCode Error code Enum_8 0 = no error
1 = wrong operating
mode
3 = parameter out of
range
7 = general error

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 NAV350 Telegram Listing

2.7.5 Command: Set Current Position by Landmark ID

This command provides a landmark ID of a visible landmark to find the initial current position.

Request
Command Syntax: sMN mNPOSSetPoseID landmarkID (according: PM)
Command part Description Type Range/Value

Command type Request String sMN

(SOPAS method by name)
Command Set current NAV350 position String mNPOSSetPoseID
LandmarkID Landmark ID in view of theNAV350 UInt_16 0…11 999

Response
Command Syntax: sAN mNPOSSetPoseID errorCode
Command part Description Type Range/Value

Command type Response String sAN

(SOPAS method by name)
Command Set current NAV350 position String mNPOSSetPoseID
ErrorCode Error code Enum_8 0 = no error
1 = wrong operating
mode
3 = parameter out of
range
7 = general error

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