User Manual

TITLE
DRAWING
NO.
Communication Protocol
Specification
For
SCIP2.0
C-42-03320B
23/25
9. Response to Invalid Commands
Whenever sensor receives undefined commands or without valid parameters in it, the error status will have one
of the following values.
 Error Status: 0A --- Unable to create transmission data or reply command internally.
0B --- Buffer shortage or command repeated that is already processed
0C --- Command with insufficient parameters 1
0D --- Undefined Command 1
0E --- Undefined Command 2
0F --- Command with insufficient parameters 2.
0G --- String Character in command exceeds 16 letters
0H --- String Character has invalid letters.
0I --- Sensor is now in firmware update mode*.
*Firmware update mode (For URG-04LX):
Sensor will be sent to firmware update mode by special command before updating the new firmware. During
this state motor and laser is stopped. When sensor is in firmware update mode it accepts only [VV-Command],
[II-Command], [RS-Command] and [SCIPVer2.0 Changing Command]. It will send error status 0I to any other
commands. To confirm the state user can send [II-Command] which will have the following reply “UDST:F/W
update mode (CPU clock is 6MHz)”.
If sensor goes to this state unintentionally, send [RS-Command] and restart the sensor. If sensor remains in this
state even after the restart use firmware update tool and follow the instructions in the help.