7.2 RS422 ......................................................................................................................................... 25
8 Software interface .................................................................................................................................. 26
8.1 In a nutshell ................................................................................................................................. 26
8.2 Operating Modes ........................................................................................................................ 28
8.3 Communication Protocol ............................................................................................................. 28
8.4 Command Structure .................................................................................................................... 29
8.5 Timing / Power on ....................................................................................................................... 31
8.6 Operational Commands .............................................................................................................. 32
8.6.1 Range Measurement >LM,Md,x*<CS><CR> ......................................................................... 32
8.6.2 Fake Range Measurement >LM,Mf,x*<CS><CR> ................................................................. 33
8.6.3 Continuous Low Power Mode / Alignment >LM,Tl,x*<CS><CR> ........................................... 34
8.6.4 Pointer On/Off >LM,Rp,x*<CS><CR> .................................................................................... 35
8.6.5 Laser Pointer Arm Command >LM,Lp,x*<CS><CR> ............................................................. 36
8.6.6 Operation Mode Selection >LM,Op,x*<CS><CR> ................................................................. 37
8.6.7 Block Range Measurement >LM,Mb,x*<CS><CR> ............................................................... 38
8.6.8 Legacy: Continuous Range Measurement >LM,Mt,x*<CS><CR> ......................................... 39
8.6.9 Selectable Measurement Repetition Rate for Continuous Measurement .............................. 40
8.6.10 Error codes ............................................................................................................................. 41
8.7 Servicing Commands .................................................................................................................. 42
8.7.1 Set Baudrate >LM,Br,x*<CS><CR> ....................................................................................... 42
8.7.2 Query: Version, Software and Module type >LM,Iv,1*<CS><CR> ......................................... 43
8.7.3 Set Range Gate Minimum >LM,Gl,x*<CS><CR> ................................................................... 44
8.7.4 Set Range Gate Maximum >LM,Gh,x*<CS><CR>................................................................. 45
8.7.5 Query: Get Range Gate Settings >LM,Ig,x*<CS><CR> ......................................................... 46
8.7.6 Reset Settings >LM,Rd*<CS><CR> ....................................................................................... 47
8.7.7 Query: Get Timestamp >LM,It*<CS><CR> ............................................................................ 48
8.7.8 Timestamp Activation >LM,At,x*<CS><CR> .......................................................................... 49
8.7.10 Set Range Sorting Method: >LM,Sr,x*<CS><CR> ................................................................. 51
8.8 Test Commands .......................................................................................................................... 52
8.8.1 IBIT (Initiated built-in test) >LM,Tb,1*<CS><CR> .................................................................. 52
8.8.2 PBIT (Power built-in test) >LM,Tb,2*<CS><CR> ................................................................... 53
9 Maintenance ............................................................................................................................................ 54
9.1 Cleaning ...................................................................................................................................... 54
9.2 Service Levels ............................................................................................................................. 54
10 LRF interface tools ............................................................................................................................ 55
10.1 LRF Interface Kit ......................................................................................................................... 55
10.2 Interface Cable ............................................................................................................................ 55
11 Appendix ............................................................................................................................................. 56
11.1 System connector reference design ........................................................................................... 56
11.2 Mechanical Interface LRF6742 ................................................................................................... 58
11.3 Reference design for transmitter and receiver windows............................................................. 59
11.4 Reference design for connector .................................................................................................. 60
11.5 Reference design for isolation of optical channels ..................................................................... 61
11.6 UTF-8 ASCII Table ..................................................................................................................... 62
11.7 Abbreviations .............................................................................................................................. 62
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