Data Sheet

Page 8
Figure 10 Schematic of ROI Function Determination
4. Communication Protocol
The following sections describe the communication protocol between CE30-A and external devices. The interface
supports Ethernet/TCP protocol and CAN bus. Currently only the CAN bus protocol is available for the obstacle
avoidance mode.
4.1. CAN Bus (Obstacle Avoidance Mode)
CE30-A uses CAN standard frame, with default baud rate 250kbps.
4.1.1. CAN Command Frame Format
Table 2 CAN Command Frame Format
MPU-->CE30-A
Byte length
Description
ID:0x606
Start command
1
bit7-6:11
bit5-1:00000
bit0：
1 - Start ranging and sampling
0 - Stop ranging and sampling
Spare
1
0x00
Width
1
Unit: cm. 0: no width limit
Depth
1
Unit: dm. 0: no depth limit
Version number inquiry
1
0xaa
0x5a, 1: central calibration. The command should be
operated in the stop mode. Please refer to the manual
for more details.
(In the stop mode, the command takes effect and
ignores start/stop and the ROI setting; in the