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====== Interfacing of SICK LMS200 with MATLAB and Serial Monitor ======

The main goal of this tutorial is to interface the SICK LMS200 with MATLAB and Serial Terminal for the understanding of basic commands. 

  * **SICK LMS200**
     LMS200 is a 2D LiDAR sensor which is suitable for performing detection, navigation, measurement and ranging on the surface. This scanner is a non-contact measurement system, that helps to scan their nearby two-dimensionally. It is used for the following tasks: 
       * Monitor specific area
       * Detect and measure the specific object
       * Determining positions 
     

Power Supply Requirement for operating LiDAR
  
Maximum Power = 35watt

Voltage      = 24Volt 
 
Current     = ~1.5amp



**SICK LMS200**

{{ :dsc_0078_1.jpg?300 |}}


**Serial Connector of SICK LMS200**

{{ :dsc_0081.jpg?300 |}}

**Power Connector**

{{ :dsc_0082.jpg?300 |}}

**Power Supply**

{{ :dsc_0083.jpg?300 |}}



  * **Serial Communication between SICK LMS200 and PC**


USB to Serial Converter is the perfect solution for making a bridge between the PC and Sick LMS200. It supports traditional RS232 serial port. 

**USB to Serial Communication Port**

{{ :dsc_0084.jpg?300 |}}


**Overview Communication setup for SICK LMS200 with PC**

{{ :block_diagram.jpg?direct |}}


**Interfacing commands for the SICK LMS200 with Serial Terminal(Realterm)**

**Setup the Baud rate**
  * Default Baud Rate for SICK LMS200 is **38400**
    
**Establish a connection with SICK LMS200** 
      * Turn on the power for LMS
      * First Yellow and Red LED are active, It means trying to startup LMS200
      * Changes to Green LED, means ready for the communication 

**Connected with Real Term**
      * Open the Real Term Serial Capture Program
      * Go to Port => Baud: 38400, Port: USB to RS232 communication port and click on Open
      * Go to Display change Displays as Hex+ASCII and click on Change
      * Go to Send 

{{ :realterm.jpg?direct |}}

**Step by Step Commands for the Communication(Commands in Hex Values)**

When you connect the LMS to the Realterm, it generates some welcome message

{{ :welcome.jpg?direct |}}

**//Some Command for Configuring//** 
  * LMS TO PC: 02 00 01 00 31 15 12 :: PC TO LMS 06 02 ..... (Making a connection between  LMS and PC)
  * LMS TO PC: 02 00 02 00 20 24 34 08 :: PC TO LMS 06 02 81 03 00 A0 00 10 36 1A (Continous Data Receive from LMS)

**Interfacing of SICK LMS200 with MATLAB**

**Program for Interfacing with MATLAB**

{{ :program.jpg |}}

**Output**

{{ :output1.jpg |}}


**FINAL WORDS**

 If you have any questions, please contact me at vikrampuri03@gmail.com