User Manual

ManualsBrandsHokuyo ManualsRotationalHokuyo URG-04LX-UG01 Scanning Laser Rangefinder

TITLE

DRAWING

NO.

Communication Protocol

Specification

For

SCIP2.0

C-42-03320B

3/25

1. Introduction

SCIP2.0 standard is developed by sensor interface research group

with the aim of providing flexible and

efficient sensor interfacing for robotic applications. This document describes communication system in SCIP2.0

and applicable to all sensors

compatible with this standard.

*1 Intelligent Robot Laboratory, University of Tsukuba (http://www.roboken.esys.tsukuba.ac.jp)

*2 For details see,

H. Kawata, W. Santosh, T. Mori, A. Ohya and S. Yuta, "Development of ultra-small

lightweight optical range sensor system", IEEE/RSJ International Conference on Intelligent Robots

and Systems (IROS2005), pp.3277-3282 2005-8 Edmonton

2. Switching to SCIP2.0 (For URG-04LX)

If the sensor is compatible to SCIP2.0 but currently running on SCIP1.1 it is necessary to switch the sensor

mode to use SCIP2.0 system. Such cases are, when the dispatched sensor is set to run in SCIP1.1 by default or

after updating sensor with SCIP2.0 compatible firmware. Switching is not necessary in sensor models that run in

SCIP2.0 mode by default.

Use the following SCIP2.0 Switching Command to change the sensor mode. Sensor will accept SCIP2.0

commands only after successfully switching the mode. Sensor will return to SCIP1.1 on restart thus it is

necessary to transmit this command whenever user wants to use SCIP2.0 system.

[SCIP2.0 Switching Command]

(HOST → SENSOR)

S C I P 2 . 0 LF

(SENSOR → HOST)

S C I P 2 . 0 LF Status LF LF

 Status: 0 --- Changed to SCIP2.0 successfully.

 LF : Line Feed

NOTE:

Communication system in SCIP1.1 and SCIP2.0 are not inter-compatible. User should exclusively use single

system to avoid errors.

3. Changing the Default Settings

Sensor parameter will return to default setting values whenever the sensor is restarted. Some of these

parameters can be changed from the initially set values to newly defined values so that the sensor will retain

them during restart. To change the settings download and use “URG_Configurer.exe” application from the

company’s website (http://www.hokuyo-aut.jp/login/index.html

)

. Table 1 shows the sensor compatibility

for setting change.

Table 1: Compatibility to Change the Default Parameters

URG-04LX

UBG-04LX-F01

UHG-08LX

UTM-30LX

Change from SCIP1.1 to SCIP2.0 (Non Reversible) YES NO NO NO

RS232C Default Communication Speed Change

YES YES NO NO

Default Motor Speed Change

YES YES YES NO