User Manual

TITLE
DRAWING
NO.
Communication Protocol
Specification
For
SCIP2.0
C-42-03320B
12/25
 Time Stamp:
Sensor has 24bit internal timer with 1msec resolution. Time stamp is a timer value at 0
th
step of every
scan (Figure 1). Received Time Stamp is Four-Character encoded data (see section 5).
Note: Measurement data may contain error codes under certain circumstances. Table 3 and 4 shows the list
of error codes and error details.
Table 3: ERROR CODES (URG-04LX, UBG-04LX-F01, UHG-08LX)
Error Code Error Details
0 Detected object is possibly at 22m
1 Reflected light has low intensity
2 Reflected light has low intensity
6 Others
7 Distance data on the preceding and succeeding steps have errors
8 Intensity difference of two waves
9 The same step had error in the last two scan
10~17 Others
18 Error reading due to strong reflective object
19 Non-Measurable Step
Table 4: ERROR CODES (UTM-30LX)
Error Code Error Details
1 No object in the range
2 Object is too near (Internal Error)
3 Measurement Error (May be due to Interference)
4 Object out of range ( At the near end)
5 Other Errors