Manual

LW20 / SF20 LiDAR sensor
Product manual
?ST
#ST,0
st:1
st:0
Read the type of scan being used
Change the type of scan:
0 = bidirectional scan
1 = unidirectional scan
?SR
#SR,8
sr:4
sr:8
Read the number of servo steps per reading
Change the number of servo steps per reading:
Adjustment range = 1 … 32
?SL
#SL,2.57
sl:1.32
sl:2.57
Read the servo lag angle in degrees
Change the servo lag angle:
Adjustment range = 0.00 … 90.00
?SFL
#SFL,-30.0
sfl:-45.0
sfl:-30.0
Read the lower angle of the field of view
Change the lower angle of the field of view:
Adjustment range = -180.0 … 180.0
?SFH
#SFH,30.0
sfh:45.0
sfh:30.0
Read the higher angle of the field of view
Change the higher angle of the field of view:
Adjustment range = -180.0 … 180.0
?SAL
#SAL,-15.0
sal:-45.0
sal:-15.0
Read the lower angle for alarm A
Change the lower angle for alarm A:
Adjustment range = -180.0 … 180.0
?SAH
#SAH,0.0
sah:45.0
sah:0.0
Read the higher angle for alarm A
Change the higher angle for alarm A:
Adjustment range = -180.0 … 180.0
?SBL
#SBL,0.0
sbl:-45.0
sbl:0.0
Read the lower angle for alarm B
Change the lower angle for alarm B:
Adjustment range = -180.0 … 180.0
?SBH
#SBH,15.0
sbh:45.0
sbh:15.0
Read the higher angle for alarm B
Change the higher angle for alarm B:
Adjustment range = -180.0 … 180.0
%S
$s:
Save all new settings to permanent memory
Alarm channel commands
?A
?AA
?AB
a:0,1
aa:0
ab:1
Read the states of both alarms
Read the state of alarm A
Read the state of alarm B
Communications channel commands
?CB
#CB,6
cb:7
cb:6
Read the serial port baud rate
Change the serial port baud rate:
0 = 9600
1 = 19200
2 = 38400
3 = 57600
4 = 115200
5 = 230400
6 = 460800
7 = 921600
?CI
#CI,0x78
ci:0x66
ci:0x78
Read the I2C address in hexadecimal
Change the I2C address:
Adjustment range = 0 … 0x7F
%C
%c:
Save all new settings to permanent memory
Legacy commands for the serial port
D’ or ‘d’
78.32
Output the current distance once only
?SU
#SU,1
su:0
su:1
Check if distance streaming is active
Switch distance streaming on or off:
0 = off
1 = on
0’
No response
Enable I2C legacy distance streaming
Legacy commands for the I2C port
0’ or 0 or 1 or 129
78.23
Enable output binary coded distance in centimeters
Send any other command to disable
Command
Typical return
Description
LW20 / SF20 LiDAR - Product manual - Revision 9 | of | © LightWare Optoelectronics (Pty) Ltd, 2018 | www.lightware.co.za 26 28