User Manual

TITLE
DRAWING
NO.
Communication Protocol
Specification
For
SCIP2.0
C-42-03320B
5/25
5. Measurement Direction and Data Points
This section gives some basic information on sensor’s measurement parameters. These parameters are
important when reading the measurement data from sensor.
Figure 1 shows sensor’s measurement details. The scanner rotates in an anti-clockwise direction when
viewed from top. Detection Range (E) is maximum angle the sensor scans for measurement. Angular Resolution
is defined as the 360degree divided by the Slit Division (F).
Measurement points are called Steps. Step 0 is the first measurement point. Step A is the initial measurement
point in the detection range. Step B is the sensor front step. Step C is the end point of the detection range. Step D
is the last measurement point. Table 1 shows the measurement parameters of some sensor models.
Figure 1: Measurement Parameters
Table 2: Measurement Parameters of Sensor Models
*6 PP-Command shows 560 as a center step in sample version instead of 562.
URG-04LX UBG-05LX-F01 UHG-08LX UTM-30LX
UTM-30LX
(Sample)
Step 0 First Measurement Point 0 0 0 0 0
Step A Initial measurement Step of Detection Range 44 44 0 0 0
Step B Sensor Front Step 384 384 384 540 562
*6
Step C End point of Detection Range 725 725 768 1080 1100
Step D Last Measurement Point 768 768 768 1080 1120
E Detection Range 239.77 239.77 270.35 270.25 282.00
F Slit Division 1024 1024 1024 1440 1440
Dead Zone
Front
Step 0
Step D
Step B
Direction of Rotatio
n
Detection Range (E Degree)
Angle Resolution (360/F)
Step C
Step
A