Manual

LW20 / SF20 LiDAR sensor
Product manual
?LH
?LHF
?LHL
lhf:100
lhf:100
lhl:78
Signal strength of first default signal (%)
Signal strength of first return (%)
Signal strength of last return (%)
?LO
#LO,0.56
lo:0.14
lo:0.56
Read distance measurement datum offset
Change to a new datum offset:
Adjustment range = -10.00 … 10.00
?LA
?LAA
#LAA,5.00
laa:3.00
laa:3.00
laa:5.00
Read the first alarm distance
Read the first alarm distance
Change the first alarm distance:
Adjustment range = 0.00 … 100.00
?LAB
#LAB,6.00
lab:3.00
lab:6.00
Read the second alarm distance
Change the second alarm distance:
Adjustment range = 0.00 … 100.00
?LAH
#LAH,0.05
lh:0.00
lh:0.05
Read the alarm hysteresis value
Change the alarm hysteresis value:
Adjustment range = 0.00 … 10.00
?LM
#LM,1
lm:5
lm:1
Check which measuring mode (update rate) is active
Change to a new measuring mode (update rate):
1 = 388 readings per second
2 = 194 readings per second
3 = 129 readings per second
4 = 97 readings per second
5 = 78 readings per second
6 = 65 readings per second
7 = 55 readings per second
8 = 48 readings per second
?LF
#LF,0
lf:1
lf:0
Check if the laser is running
Change the laser state:
0 = laser is off
1 = laser is running
?LT
lt:35.7
Read the internal temperature
?LN
ln:0.5
Read the level of background noise
?LC
#LC,16
lc:8
lc:16
Read the number of lost signal confirmations
Change the number of lost signal confirmations:
Adjustment range = 1 …. 250
?LB
#LB,1.00
lb:0.00
lb:1.00
Read the gain boost value
Change the gain boost value:
Adjustment range = -20.00 … 5.00
%L
%l:
Save all new settings to permanent memory
Servo channel commands
?S
?SC
#SC,1
s:0
sc:0
sc:1
Check if a servo is connected
Check if a servo is connected
Connect the servo
?SS
#SS,1
$1SS
ss:0
ss:1
ss:30.5,15.56,27.43
Check if the servo is scanning
Turn on servo scanning
Stream servo scanning data:
ss:angle, first return, last return
?SP
#SP,20.5
sp:0.0
sp:20.5
Read the current servo position in degrees
Move the servo to a new position:
Adjustment range = -180 … 180
?SM
#SM
sm:15.0
sm:0.0
Read the current servo position in degrees
Move the servo to the middle position
?SWL
#SWL,1100.0
swl:1000.0
swl:1100.0
Read the minimum allowed PWM time in us
Change the minimum allowed PWM time:
Adjustment range = 0.0 … 2999.0
?SWH
#SWH,1900
swh:2000.0
swh:1900.0
Read the maximum allowed PWM time in us
Change the maximum allowed PWM time:
Adjustment range = 0.0 … 2999.0
?SWS
#SWS,10.00
sws:9.00
sws:10.00
Read the us per degree scale of the servo
Change the us per degree scale of the servo:
Adjustment range = 0.1 … 1000.0
Command
Typical return
Description
LW20 / SF20 LiDAR - Product manual - Revision 9 | of | © LightWare Optoelectronics (Pty) Ltd, 2018 | www.lightware.co.za 25 28