Operating Modes; Communication Protocol - Safran LRF 6742 Manual

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LRF 6742 Integrator Manual

8.2 Operating Modes

The LRF 6742 provides three operating modes:

 Off mode: Lowest power consumption mode. The use of the PWR_SAFE line is required for

the correct use of this mode.

 Stand-by mode: The LRF module is powered on and runs with reduced power consumption.

Only the "Fake Range Request" commands can be executed in this mode.

 Normal operating Mode: Power is supplied to LRF module. The LRF can respond to all valid

commands.

After entering "Normal operating Mode", the module automatically sends back the prompt character "<" to

the host to signal its readiness and waits for any input command.

After a valid command (format, checksum and parameters valid) has been received, the LRF module sends

an acknowledge message to the host and executes the command. If the received command is successfully

executed, the LRF module sends back a response message (if necessary) followed by the success prompt

character "<" to the host. In case that the command execution was not successful, the LRF module sends

the failure prompt character "!" back to the host.

If the received command has the right format, but a wrong checksum or parameter or the command is not

implemented, the LRF module sends a NOT acknowledge message to the host, followed by the failure

prompt character "!".

Both prompt characters signal to the host that the LRF module is ready to receive a new command

message.

For all command messages not matching the specified message format (chapter 8.4), the LRF module will

send nothing back to the host and will ignore the message.

During command execution (except for the continuous range request, the block range request and the laser

continuous low power mode commands) the LRF module will ignore any incoming characters.

INTEGRATOR MANUAL LRF 6742 918574A

Figure 12: State machine and transitions

Public: 04.2023

Page: 28/63

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