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Command
Typical return
?ST
st:1
#ST,0
st:0
?SR
sr:4
#SR,8
sr:8
?SL
sl:1.32
#SL,2.57
sl:2.57
?SFL
sfl:-45.0
#SFL,-30.0
sfl:-30.0
?SFH
sfh:45.0
#SFH,30.0
sfh:30.0
?SAL
sal:-45.0
#SAL,-15.0
sal:-15.0
?SAH
sah:45.0
#SAH,0.0
sah:0.0
?SBL
sbl:-45.0
#SBL,0.0
sbl:0.0
?SBH
sbh:45.0
#SBH,15.0
sbh:15.0
%S
$s:
?A
a:0,1
?AA
aa:0
?AB
ab:1
?CB
cb:7
#CB,6
cb:6
?CI
ci:0x66
#CI,0x78
ci:0x78
?CT
ct:0
#CT,1
ct:1
%C
%c:
?E
e:1
#E,0
e:0
D' or 'd'
78.32
LW20 / SF20 LiDAR - Product manual - Revision 7
Description
Read the type of scan being used
Change the type of scan:
0 = bidirectional scan
1 = unidirectional scan
Read the number of servo steps per reading
Change the number of servo steps per reading:
Adjustment range = 1 ... 32
Read the servo lag angle in degrees
Change the servo lag angle:
Adjustment range = 0.00 ... 90.00
Read the lower angle of the field of view
Change the lower angle of the field of view:
Adjustment range = -180.0 ... 180.0
Read the higher angle of the field of view
Change the higher angle of the field of view:
Adjustment range = -180.0 ... 180.0
Read the lower angle for alarm A
Change the lower angle for alarm A:
Adjustment range = -180.0 ... 180.0
Read the higher angle for alarm A
Change the higher angle for alarm A:
Adjustment range = -180.0 ... 180.0
Read the lower angle for alarm B
Change the lower angle for alarm B:
Adjustment range = -180.0 ... 180.0
Read the higher angle for alarm B
Change the higher angle for alarm B:
Adjustment range = -180.0 ... 180.0
Save all Servo channel settings
Alarm channel commands
Read the states of both alarms
Read the state of alarm A
Read the state of alarm B
Communications channel commands
Read the serial port baud rate
Change the serial port baud rate:
0 = 9600
1 = 19200
2 = 38400
3 = 57600
4 = 115200
5 = 230400
6 = 460800
7 = 921600
Read the I2C address in hexadecimal
Change the I2C address:
Adjustment range = 0 ... 0x7F
Check if address tagging is included in I2C
Change address tagging:
0 = no address is tagged
1 = address is tagged
Save all Communications channel settings
Energy control channel commands
Check the power consumption status
Change the power consumption:
0 = power off
1 = power on
Legacy commands for the serial port
Output the current distance once only
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© LightWare Optoelectronics (Pty) Ltd, 2018
LW20 / SF20 LiDAR sensor
Product manual
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www.lightware.co.za
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