Safran LRF 6042 Manual page 9

LRF 6042 Integrator Manual
7 Serial interfaces ...................................................................................................................................... 27
7.1 RS232 .................................................................................................................................... 27
7.2 RS422 .................................................................................................................................... 27
8 Software interface .................................................................................................................................. 28
8.1 In a nutshell ............................................................................................................................ 28
8.2 Operating modes .................................................................................................................... 29
8.3 Communication Protocol ......................................................................................................... 29
8.4 Command structure ................................................................................................................ 30
8.5 Timing / Power on .................................................................................................................. 32
8.6 Operational Commands .......................................................................................................... 33
8.6.1 Distance measurement >LM,Md,x*<CS><CR> ................................................................... 33
8.6.2 Fake Range Request >LM,Mf,x*<CS><CR> ....................................................................... 34
8.6.3 Laser continuous low power mode >LM,Tl,x*<CS><CR> .................................................... 35
8.6.4 Laser pointer command >LM,Rp,x*<CS><CR> ................................................................... 36
8.6.5 Laser pointer arm command >LM,Lp,x*<CS><CR> ............................................................. 37
8.6.6 Operating mode selection >LM,Op,x*<CS><CR> ................................................................ 38
8.6.7 Block range request >LM,Mb,x*<CS><CR> ........................................................................ 39
8.6.8 Continuous Range Request >LM,Mt,x*<CS><CR> ............................................................. 40
8.6.9 Error codes ......................................................................................................................... 41
8.7 Servicing commands .............................................................................................................. 42
8.7.1 LRF module baud rate >LM,Br,x*<CS><CR> ...................................................................... 42
8.7.2 Version, software and module type request >LM,Iv,1*<CS><CR> ....................................... 43
8.7.3 Set range gate min >LM,Gl,x*<CS><CR> ........................................................................... 44
8.7.4 Set range gate max >LM,Gh,x*<CS><CR> ......................................................................... 45
8.7.5 Get current range gate settings >LM,Ig,x*<CS><CR> ......................................................... 46
8.7.6 Reset LRF module to default settings >LM,Rd*<CS><CR> ................................................. 47
8.7.7 Timestamp activation >LM,At,x*<CS><CR> ........................................................................ 48
8.7.8 Get timestamp >LM,It*<CS><CR> ...................................................................................... 49
8.7.9 Range commands with activated timestamp ....................................................................... 50
8.7.11 Set Target Sorting Method: >LM,Sr,x*<CS><CR> ............................................................... 51
8.8 Test commands ...................................................................................................................... 52
8.8.1 IBIT (Initiated built-in test) >LM,Tb,1*<CS><CR> ................................................................ 52
8.8.2 PBIT (Power built-in test) >LM,Tb,2*<CS><CR> ................................................................. 53
9 Maintenance ............................................................................................................................................ 54
9.1 Cleaning ................................................................................................................................. 54
9.2 Service Levels ........................................................................................................................ 54
10 LRF interface tools ............................................................................................................................ 55
10.1 LRF Interface Kit .................................................................................................................... 55
10.2 Interface Cable ....................................................................................................................... 55
10.3 Eye Safety Kit ......................................................................................................................... 56
11 Appendix ............................................................................................................................................. 57
11.1 System connector reference design ........................................................................................ 57
11.2 Mechanical Interface LRF6042 ............................................................................................... 59
11.3 Reference design for transmitter and receiver windows .......................................................... 60
11.4 Reference design for connector .............................................................................................. 61
11.5 Reference design for isolation of optical channels ................................................................... 62
11.6 UTF-8 ASCII Table ................................................................................................................. 63
11.7 Abbreviations ......................................................................................................................... 63
INTEGRATOR MANUAL LRF 6042 917657- A
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Public: 02.2022
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