Safran LRF 3013 - 6.2.2 Continuous distance measurement; 6.2.2.1 Checksum Calculation

LRF 3013 Integrator Manual
Document number: TML 913655 ver A
Public: 13.03.2017
Confidential & Proprietary  Safran Vectronix AG – All rights reserved
page: 27/36
View in a terminal program
Legend
<>Md1<0D>
v1234550DA<0D>
v0222200CE<0D>
R000E301BB<0D>
<
Commands sent to the module are in black (hex values in blue).
Characters sourced by the module are in green (hex values in
red).
The hex value 0D is the carriage return.
The result is in units of [cm].
6.2.2 Continuous distance measurement
Due to eye safety restrictions, the host system must ensure to request measurement commands with a
maximum frequency of 2 Hz.
The LRF Module does not ensure that the maximum measurement frequency of 2 Hz is maintained.
Keep in mind that eye safety of the host system is in the responsibility of the system integrator.
6.2.2.1 Checksum Calculation
The checksum is calculated by adding the binary representations of the first eight ASCII characters of the
data string. The least significant byte of the result in hexadecimal representation is converted into two
ASCII characters.
Raw Data example: v0005950D9, where the checksum is D9
Character
ASCII Value in Hex
Sum in Hex
v
76h
76h
0
30h
A6h
0
30h
D6h
0
30h
106h
5
35h
13Bh
9
39h
174h
5
35h
1A9h
0
30h
1D9h
Checksum = 8 least significant bits of 1D9 = D9