Manual

LW20 / SF20 LiDAR sensor
Product manual
Appendix C :: Complete command set for machine-to-machine communications
The LW20 has either a serial or an I2C communication port. Commands can be sent that read values, change settings or alter the
performance of the LW20. Distances are in meters and temperatures in degrees celsius.
Commands are sent and responses received in ASCII format (human readable). These ASCII strings have a maximum of 32 characters.
NOTE: There are some special commands to make the LW20 compatible with older systems and these are in binary format.
Once a command has been sent a single reply will be returned. To continuously update the reply without re-sending the command
the streaming ($) command can be used.
!
Note
The first command sent after power up will be used to detect if the LW20 is running in Serial or I2C mode, and therefore
will not get a response.
Command string format:
<command type><channel><parameter><index><,><numeric value><CR><LF>
Command types:
? Read a value once. This can be either a result or a setting.
# Change a setting. All settings can be changed.
$ Stream a value continuously. Update a result or a setting every time it changes.
% Save a setting. The setting becomes permanent even after the power is switched off.
Channels:
P Product channel - provides product specific information
L Laser channel - provides distance measurements and related settings
S Servo channel - relates to servo position and settings
A Alarm channel - shows the status of alarms
C Communications channel - handles serial and I2C settings
Examples:
?LDF,0 Read the median value of the distance to the first return signal
#LO,0.23 M o v e t h e m e a s u r e m e n t z e r o d a t u m f u r t h e r a w a y b y 0 . 2 3 m e t e r s
$1LT Stream the internal temperature in the first column
%P Save all settings to permanent memory
Command list
Command
Typical return
Description
Product channel commands
?
?P
p:SF20,1.0.0,11
Product name, firmware version, hardware version
?PN
pn:SF20
Product name
?PF
pf:11
Hardware version
?PS
ps:1.0.0
Firmware version
%P
%p:
Save all new settings to permanent memory
Laser channel commands
?L
?LD
l:3.35
ld,0:23.67
Default raw distance
Default median distance
?LDF
?LDF,0
?LDF,1
?LDF,2
?LDF,3
ldf,0:56.98
ldf,0:45.32
ldf,1:32.78
ldf,2:65.12
ldf,3:34.23
Median distance to the first return
Median distance to the first return
Raw distance to the first return
Closest distance to the first return
Furthest distance to the first return
?LDL
?LDL,0
?LDL,1
?LDL,2
?LDL,3
ldl,0:56.98
ldl,0:45.32
ldl,1:32.78
ldl,2:65.12
ldl,3:34.23
Median distance to the last return
Median distance to the last return
Raw distance to the last return
Closest distance to the last return
Furthest distance to the last return
LW20 / SF20 LiDAR - Product manual - Revision 9 | of | © LightWare Optoelectronics (Pty) Ltd, 2018 | www.lightware.co.za 24 28