Appendix C :: Complete Command Set For Machine-To-Machine Communications - Lightware SF20 Product Manual

Appendix C :: Complete command set for machine-to-machine communications

The LW20 has either a serial or an I2C communication port. Commands can be sent that read values, change settings or alter the
performance of the LW20. Distances are in meters and temperatures in degrees celsius.
Commands are sent and responses received in ASCII format (human readable). These ASCII strings have a maximum of 32 characters.
NOTE: There are some special commands to make the LW20 compatible with older systems and these are in binary format.
Once a command has been sent a single reply will be returned. To continuously update the reply without re-sending the command
the streaming ($) command can be used.
Command string format:
<command type><channel><parameter><index><,><numeric value><CR><LF>
Command types:
? Read a value once. This can be either a result or a setting.
# Change a setting. All settings can be changed.
$ Stream a value continuously. Update a result or a setting every time it changes.
% Save a setting. The setting becomes permanent even after the power is switched off.
Channels:
P Product channel - provides product specific information
L Laser channel - provides distance measurements and related settings
S Servo channel - relates to servo position and settings
A Alarm channel - shows the status of alarms
C Communications channel - handles serial and I2C settings
E Energy channel - handles power controls
Examples:
?LDF,0 Read the median value of the distance to the first return signal
#LO,0.23 Move the measurement zero datum further away by 0.23 meters
$1LT Stream the internal temperature in the first column
%C Save the latest communications settings to permanent memory
Command list
Command Typical return
?
p:LW20,1.0,1.
?P
?PN pn:LW20
?PF pf:1.0
?PS ps:1.0
%P %p:
?L l:3.35
?LD ld,0:23.67
?LDF ldf,0:56.98
?LDF,0 ldf,0:45.32
?LDF,1 ldf,1:32.78
?LDF,2 ldf,2:65.12
?LDF,3 ldf,3:34.23
?LDL ldl,0:56.98
?LDL,0 ldl,0:45.32
?LDL,1 ldl,1:32.78
?LDL,2 ldl,2:65.12
?LDL,3 ldl,3:34.23
?LH lhf:100
?LHF lhf:100
?LHL lhl:78
?LO lo:0.14
#LO,0.56 lo:0.56
LW20 / SF20 LiDAR - Product manual - Revision 7
Description
Product channel commands
Product name, software revision, firmware revision
Product name
Firmware revision
Software revision
Save all new settings to permanent memory
Laser channel commands
Default raw distance
Default median distance
Median distance to the first return
Median distance to the first return
Raw distance to the first return
Closest distance to the first return
Furthest distance to the first return
Median distance to the last return
Median distance to the last return
Raw distance to the last return
Closest distance to the last return
Furthest distance to the last return
Signal strength of first default signal (%)
Signal strength of first return (%)
Signal strength of last return (%)
Read distance measurement datum offset
Change to a new datum offset:
Adjustment range = -10.00 ... 10.00
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LW20 / SF20 LiDAR sensor
Product manual
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