Lightware SF20 Product Manual page 25

Command Typical return
?LA laa:3.00
?LAA laa:3.00
#LAA,5.00 laa:5.00
?LAB lab:3.00
#LAB,6.00 lab:6.00
?LAH lh:0.00
#LAH,0.05 lh:0.05
?LM lm:5
#LM,1 lm:1
?LF lf:1
#LF,0 lf:0
?LT lt:35.7
?LN ln:0.5
?LE le:0
#LE le:1
?LC lc:8
#LC,16 lc:16
?LB lb:0.00
#LB,1.00 lb:1.00
%L %l:
?S s:0
?SC sc:0
#SC,1 sc:1
?SS ss:0
#SS,1 ss:1
$1SS ss:30.5,15.56,27.43
?SP sp:0.0
#SP,20.5 sp:20.5
?SM sm:15.0
#SM sm:0.0
?SWL swl:1000.0
#SWL,1100.0 swl:1100.0
?SWH swh:2000.0
#SWH,1900 swh:1900.0
?SWS sws:9.00
#SWS,10.00 sws:10.00
LW20 / SF20 LiDAR - Product manual - Revision 7
Description
Read the first alarm distance
Read the first alarm distance
Change the first alarm distance:
Adjustment range = 0.00 ... 100.00
Read the second alarm distance
Change the second alarm distance:
Adjustment range = 0.00 ... 100.00
Read the alarm hysteresis value
Change the alarm hysteresis value:
Adjustment range = 0.00 ... 10.00
Check which measuring mode (update rate) is active
Change to a new measuring mode (update rate):
1 = 388 readings per second
2 = 194 readings per second
3 = 129 readings per second
4 = 97 readings per second
5 = 78 readings per second
6 = 65 readings per second
7 = 55 readings per second
8 = 48 readings per second
Check if the laser is running
Change the laser state:
0 = laser is off
1 = laser is running
Read the internal temperature
Read the level of background noise
Check the laser encoding pattern
Change the laser encoding pattern:
0 = no encoding pattern
1 = pattern A
2 = pattern B
3 = pattern C
4 = pattern D
Read the number of lost signal confirmations
Change the number of lost signal confirmations:
Adjustment range = 1 .... 250
Read the gain boost value
Change the gain boost value:
Adjustment range = -20.00 ... 5.00
Save all Laser channel settings
Servo channel commands
Check if a servo is connected
Check if a servo is connected
Connect the servo
Check if the servo is scanning
Turn on servo scanning
Stream servo scanning data:
ss:angle, first return, last return
Read the current servo position in degrees
Move the servo to a new position:
Adjustment range = -180 ... 180
Read the current servo position in degrees
Move the servo to the middle position
Read the minimum allowed PWM time in us
Change the minimum allowed PWM time:
Adjustment range = 0.0 ... 2999.0
Read the maximum allowed PWM time in us
Change the maximum allowed PWM time:
Adjustment range = 0.0 ... 2999.0
Read the us per degree scale of the servo
Change the us per degree scale of the servo:
Adjustment range = 0.1 ... 1000.0
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25 of 28 © LightWare Optoelectronics (Pty) Ltd, 2018
LW20 / SF20 LiDAR sensor
Product manual
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