Command Structure - Safran LRF 6042 Manual

LRF 6042 Integrator Manual

8.4 Command structure

Figure 16 depicts the structure of the message frame. The message is an ASCII string. The ASCII code used
is UTF- 8 as shown in chapter 11.6 UTF-8 ASCII Table.
Example:
Host  LRF Module
Command frame:
LRF Module  Host
Acknowledge frame:
Response frame:
Prompt:
 SOM (Start of Message) -> ">" (ASCII 0x3E) is used for message frame synchronization
 Product ID -> for LRF modules is "LM".
 Message ID -> is composed of an upper case followed by a lower case letter "Md"
 Parameters -> "3"
o
if required, can be of different types (decimal, string, char in the range of 0x20 to 0x7E)
Not allowed characters: 0x2A ('*'), 0x2C (','), 0x3E ('>'), 0x3C ('<') and 0x21 ('!').
o
 Checksum -> is the total sum in hexadecimal value of the message string between the '>' and
the '*' including the comas ','
 EOM -> indicates the end of the message frame. <0D>.
 Acknowledge -> indicates that the command is valid and the module is processing it.
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Checksum Range
>xx,<msg id>,<param 0>,....,<param N>*<chk sum><CR>
SOM
Parameter 0
Product ID
Message ID
Figure 16: Message frame format
>LM,Md,3*D5<0D>
>AC*84<0D>
>LM,Md,v0006091,R000E301,R000E301*46<0D>
<
Characters ASCII value in
Hex
L 4C
M 4D
, 2C
0 30
1 31
Checksum
Table 1: Example of checksum calculation
Checksum
Parameter N
Sum in Hex
4C
4C+4D = 99
99 + 2C = C5
... = 71C
71C + 31 = 74D
4D
EOM
Public: 02.2022
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