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rate
100 Hz (RS-232, binary reply mode)
1000 Hz (RS-422)
The SLS sensor always operates as a slave, i.e. it never initiates a data transfer
itself. All data transfers must be requested by an external device, referred to in the
rest of this document as the master. The master can communicate with the SLS
sensor either via RS-232 or RS-422. The RS-422 command set is a subset of the
full RS-232 command set. RS-232 commands are always ASCII, whereas RS-422
commands are binary. The output from the SLS may be either ASCII or binary
over RS-232 but is always binary over RS-422.
Definitions
Distance Value The reply differs with the measurement unit that is used. The
actual number of fractional digits (in the case of millimeters
or inches) depends on the sensors scale factor.
Measurement
Validity
The reply gives the validity of the signal as a percentage of
the last 100 samples
Laser Intensity The reply gives the laser intensity as a percentage of the
maximum. The maximum is calibrated when the sensor is
manufactured. A command for reading the actual laser power
in milliwatts exists in RS232, ASCII reply mode (see section
Laser Intensity).
Sensor
Temperature
The reply gives the temperature in degrees Celsius. It is
measured inside the sensor.
Conventions
The following conventions are used in this document:
nnnnn
Groups of the letter n stand for integer numbers written with ASCII
characters. The number of n’s indicate the maximum permitted
number of characters. Fewer characters may be used.
Rrr.rrr
Groups of the letter r stand for real numbers (i.e. numbers with an
integer part and a fractional part) written with ASCII characters. The
number of r’s to the left of the decimal point indicate the maximum
permitted number of characters for the integer part, and the number of
r’s to the right of the decimal point indicate the maximum number of
characters for the fractional part. Fewer characters may be used, and
the decimal point may be omitted if it is not needed.
0xXX
The notation 0xXX indicates a binary byte value. The two following
characters are in hexadecimal notation. NOTE: This is not an ASCII
representation. For example, if a byte value is given as 0x41, only one
character (one byte) will be sent, in this case the character ‘A’, and not
the four characters ‘0’, ‘x’, ‘4’, ‘1’. Where successive bytes refer to
different types of data, they are distinguished by the notation 0xXX,
0xYY etc.
0xXXXX
The notation 0xXXXX indicates a binary word value. It is transmitted
as two characters (bytes) with the most significant byte first. Where
successive words refer to different types of data, they are
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