Safran LRF 6019 - Page 7

LRF 6019 Integrator Manual
914928_TML_LRF6019_en_Version C
Public: 04.2019
Confidential & Proprietary  Safran Vectronix AG – All rights reserved
Page: 7/70
6 SW Interface ....................................................................................................................................... 37
6.1 Operating modes ........................................................................................................................ 37
6.2 Communication Protocol ............................................................................................................. 37
6.3 Command structure .................................................................................................................... 38
6.3.1 Definition ................................................................................................................................. 38
6.3.2 Message format ...................................................................................................................... 38
6.4 Timing / Power on ....................................................................................................................... 40
6.5 Operational Commands .............................................................................................................. 41
6.5.1 Distance measurement >LM,Md,x*<CS><CR> ...................................................................... 41
6.5.2 Fake Range Request >LM,Mf,x*<CS><CR> .......................................................................... 42
6.5.3 Laser continuous low power mode >LM,Tl,x*<CS><CR> ...................................................... 43
6.5.4 Laser pointer command >LM,Rp,x*<CS><CR> ..................................................................... 44
6.5.5 Laser pointer arm command >LM,Lp,x*<CS><CR> ............................................................... 45
6.5.6 Operating mode selection >LM,Op,x*<CS><CR> .................................................................. 46
6.5.7 Block range request >LM,Mb,x*<CS><CR> ........................................................................... 47
6.5.8 Continuous Range Request >LM,Mt,x*<CS><CR> ............................................................... 48
6.5.9 Error codes ............................................................................................................................. 49
6.6 Servicing commands................................................................................................................... 50
6.6.1 LRF module baud rate >LM,Br,x*<CS><CR> ........................................................................ 50
6.6.2 Version, software and module type request >LM,Iv,1*<CS><CR> ........................................ 51
6.6.3 Set range gate min >LM,Gl,x*<CS><CR> .............................................................................. 52
6.6.4 Set range gate max >LM,Gh,x*<CS><CR> ............................................................................ 53
6.6.5 Get current range gate settings >LM,Ig,x*<CS><CR> ........................................................... 54
6.6.6 Reset LRF module to default settings : >LM,Rd*<CS><CR> ................................................. 55
6.6.7 Timestamp activation >LM,At,x*<CS><CR> .......................................................................... 56
6.6.8 Get timestamp >LM,It*<CS><CR> ......................................................................................... 57
6.6.9 Range commands with activated timestamp .......................................................................... 58
6.7 Test commands .......................................................................................................................... 59
6.7.1 IBIT (Initiated built-in test) >LM,Tb,1*<CS><CR> .................................................................. 59
6.7.2 PBIT (Power built-in test) >LM,Tb,2*<CS><CR> ................................................................... 60
7 Maintenance ....................................................................................................................................... 61
7.1 Cleaning ...................................................................................................................................... 61
7.2 Service Levels ............................................................................................................................. 61
8 LRF Interface Tools ........................................................................................................................... 62
8.1 LRF Interface Kit ......................................................................................................................... 62
8.2 Interface Cable ............................................................................................................................ 62
9 Appendix ............................................................................................................................................ 63
9.1 System connector reference design ........................................................................................... 63
9.2 Mechanical Interface Drawing .................................................................................................... 65
9.3 Reference design for Transmitter and receiver lenses ............................................................... 67
9.4 Reference design for connector .................................................................................................. 68
9.5 UTF-8 ASCII Table ..................................................................................................................... 69
9.6 Abbreviations .............................................................................................................................. 69