LRF 6019 Integrator Manual
914928_TML_LRF6019_en_Version C
Confidential & Proprietary Safran Vectronix AG – All rights reserved
Checksum:
The checksum is the total sum in hexadecimal value of the message string between the
‘>’ and the ‘*
Table 1: Example of checksum calculation
The checksum represents the 8 least significant bits of 74Dh (last row in column “Sum in Hex” of
Table 1.)
EOM (End Of Message):
<CR> (ASCII 0x0D) indicates the end of the message frame. In the different examples,
carriage return is written as <0D>.
Minimum message length (host to LRF module): 10
Maximum message length (host to LRF module): 16
Acknowledge:
Acknowledge is sent by the LRF module to indicate that the message is valid and being
processed. Acknowledge is sent with checksum: >AC*<CS><CR> (">AC*84\r")
Not Acknowledge:
Not Acknowledge is sent by the LRF module to indicate that the message has been received, but is
not valid and has not been processed. The Not Acknowledge answer frame has an error ID as
parameter and a checksum. The Error ID parameter is an integer described in the Table 2.
Message is not supported / implemented
Serial interface Rx Parity bit error
Serial interface Rx overflow error
Table 2: Not acknowledge error list
Example for an invalid parameter error:
>LM,Md,3,0*31<0D>
>NA,2*ED<0D>
!
Example for a checksum error:
>LM,Md,3*D6<0D>
>NA,0*EB<0D>
!
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