User Manual

TITLE

DRAWING

NO.

Communication Protocol

Specification

For

SCIP2.0

C-42-03320B

4/25

4. Interface and Setting

Sensor is equipped with RS232C and/or USB for interfacing with an external device, the Host.

Communication can be done via any one of these interfacing channels. In sensors having both interfaces if host

and sensor is connected with both channels, USB connection will have the priority. It is also possible to switch

between USB and RS232C connection by plugging and unplugging the USB cable on the sensor side even when

the sensor is operating.

USB has Communication Device Class (CDC) standard with its settings similar to RS232C. Programs written

for RS232C can also be used for USB.

When using USB as an interfacing device it is necessary to install USB driver on the host. Driver for

Windows operating system can be downloaded from the company website.

http://www.hokuyo-aut.jp/login/index.html

For Macintosh operating system standard built in driver can be used (Mac OS X Leopard or later versions

only). See URG programming guide for details.

For Linux systems CDC-ACM can be used. For details contact your Linux distributor.

See URG-Programming guide

for details.

*3 Scheduled to be released around April 2008.

Settings details for RS232C and USB are given below.

RS232C

Bit Rate :19.2, 38.4

, 57.6, 115.2, 250, 500, 750 Kbps

Parity :None

Data Bit :8

Stop Bit :1

Flow Control :None

USB

Version :2.0

Speed :Full Speed (

9Mbps

)

Class :Communication Device Class

*4 Not compatible with URG-04LX

*5 Compatible with CDC-ACM Ver0.25 or later versions in Linux operating system.

Note on USB Connection:

When using USB connection, port should be opened only after the OS assigns the number to the device

(enumeration). Access to the device from the application should be done only when the host-device

configuration is complete and host recognizes the device.