User Manual

TITLE
DRAWING
NO.
Communication Protocol
Specification
For
SCIP2.0
C-42-03320B
10/25
8. Sensor Commands
Sensor commands are predefined codes in communication format (see section 6). Host and sensor
exchange data using these commands. There are 13-types of predefined sensor commands in SCIP2.0.
NOTE:
 Host can send multiple commands at one time to sensor and sensor replies to each command progressively.
However sensor will not accept multiple commands of same type sent at once. In such case sensor will reply
only once and sends error code thereafter.
 Comparing the command echo and sum can identify errors in communication.
 All the characters in the Command and Reply are ASCII code.
8.1 [MDMS-Command]
This is a sensor data acquisition command. Whenever sensor receives this command it transmits the eco with
status ‘00’ followed by the reply having measurement data that was taken after the command was received.
Laser switches on automatically before the measurement and switched off after completing the number of scans
defined in the command.
(HOST→ SENSOR)
M (4dH) D (44H) or S (53H)
Starting Step
(4bytes)
End Step
(4 bytes)
Cluster Count
(2bytes)
Scan Interval
(1 byte)
Number of Scans
(2 bytes)
String Characters
(max 16-letters)
LF
(1 byte)
 Command symbol can be either MD or MS. MD is for three character encoded data and MS is for two
character encoded data (see section 5).
 Starting Step and End Step:
Starting step and End Step can be any points between 0 and maximum step (see section 4). End Step
should be always greater than Starting step.
Example:
To obtain data from step 10 to 750.
Starting point : 0010 (30H,30H, 31H, 30H)
End Point : 0750 (30H, 37H, 35H, 30H)
 Cluster Count:
Cluster Count is the number of adjacent steps that can be merged into single data and has a range 0 to
99. When cluster count is more than 1, step having minimum measurement value (excluding error) in the
cluster will be the output data.
Example: If Cluster Count is 3 and measurement values of 3 adjacent steps in this cluster are 3059,
3055 and 3062, the received data from the sensor will be 3055.
 Scan Interval and
Skipping the number of scans when obtaining multiple scan data can be set in Scan Interval. The value
should be in decimal.
 Number of Scans:
User can request number of scan data by supplying the count in Number of Scan. If Number of Scan is
set to 00 the data is supplied indefinitely unless canceled using [QT-Command] or [RS-Command].
The value should be in decimal.