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AR4000 User’s Manual 

19 

 

LLL004001 – Rev 2.7 

 

9.0 Serial Communications

 

9.1 Output Data Formats 

 

Data is transmitted from the AccuRange 4000 as 8 data bits with no parity and 1 
stop bit. The data sent may consist of calibrated distance readings, uncalibrated 
sensor data, or both together in each sample. Data may be sent in ASCII or 
binary format. Thus there are 6 data format combinations that can be transmitted 
by the 4000: ASCII calibrated only (the default), ASCII uncalibrated only, ASCII 
calibrated plus uncalibrated, binary calibrated only, binary uncalibrated only, and 
binary calibrated plus uncalibrated.  
 
If calibrated output is enabled, the range information is the measured distance 
obtained by the sensor’s internal calibration process. This is then transmitted as 
ASCII characters or binary bytes, depending on whether the ASCII or binary 
mode has been selected. In binary, all multibyte range and distance 
measurements are transmitted most significant byte first. 
 
If uncalibrated mode is selected, the data transmitted by the sensor consists of a 
raw (uncorrected) range reading in sensor count units, the reflected signal 
strength, background light level, and sensor temperature. The size of the sensor 
count units in uncalibrated mode will depend on the maximum range and sample 
rate specified. 
 
If both calibrated and uncalibrated outputs are enabled, the calibrated data is 
transmitted first, followed by the uncalibrated information. Each combination is  
detailed below. 
 
The location of the zero point may be changed for either calibrated or 
uncalibrated output with the Set Zero Point command. The direction of 
increasing output serial values from the zero point may be reversed by issuing the 
Set Span command with a distance closer than that used in a  previously issued 
Set Zero Point command. 
  

9.1.1  ASCII Data format, Calibrated Distance Only 

 

[DD]D.DD<CR><LF> 
In this configuration, each sample consists of a string of characters as follows: 4 
to 6 distance followed by <CR><LF>. characters (possible values from 0.00 to 
999.99 inches in 1/100ths of an inch in English output, or 0 to 99999 mm metric) 
Values enclosed in [] will not appear if they consist only of leading zeros. 

 

9.1.2  ASCII Data format, Low Level Sensor Outputs Only 

 
[

RRRRRR]R<TAB>[SSS]S<TAB>[AAA]A<TAB>[TTT]T<CR><LF> 

Summary of Contents for AccuRange 4000

Page 1: ... Rangefinder AccuRange Line Scanner User s Manual LLL004001 Rev 2 7 For use with AR4000 and Line Scanner September 5 2008 Acuity A product of Schmitt Industries Inc 2765 NW Nicolai St Portland OR 97210 www acuitylaser com ...

Page 2: ...t You agree upon such termination to return the hardware and software together with all copies of associated documentation In the event of termination the obligation of confidentiality shall survive 12 MONTH LIMITED WARRANTY EXCEPT AS STATED BELOW IN THIS SECTION THIS PRODUCT IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANT...

Page 3: ...mful interference and 2 this device must accept any interference received including interference that may cause undesired operation Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commer...

Page 4: ...AR4000 User s Manual ii LLL004001 Rev 2 7 ...

Page 5: ...T 11 5 1 1 OUTPUT FLOW CONTROL 11 5 1 2 INPUT FLOW CONTROL 11 6 INSTALLATION 12 6 1 CABLING 12 6 1 1 STANDALONE CABLING 12 6 1 2 CONNECTION TO A HOST COMPUTER 12 7 INITIAL CHECKOUT 13 7 1 4000 LV 13 7 2 4000 LIR 13 7 2 1 VERIFYING OPERATION 13 7 3 TROUBLESHOOTING 13 7 3 1 SERIAL COMMUNICATIONS CHECK 14 7 3 2 RANGE OUTPUT CHECK 14 7 3 3 ANALOG OUTPUT CHECK 14 7 3 4 RANGE MEASUREMENT QUALITY CHECK 1...

Page 6: ...ISTANCE PLUS LOW LEVEL SENSOR OUTPUTS 20 10 CURRENT LOOP AND PULSE WIDTH OUTPUTS 21 10 1 PULSE WIDTH OUTPUT 21 10 2 CURRENT LOOP OUTPUT 21 11 SERIAL AND ANALOG OUTPUT PERFORMANCE SPECIFICATIONS 22 11 1 SAMPLE RATE 22 11 2 RESOLUTION 23 12 CONFIGURATION AND NON VOLATILE STORAGE 24 12 1 EEPROM OPERATION 24 13 ACCURANGE 4000 COMMAND SET 25 13 1 COMMAND QUICK REFERENCE 26 13 2 COMMAND DESCRIPTIONS 29 ...

Page 7: ...ns should provide the information necessary to connect the sensor and verify its operation either with a serial terminal program at 9600 baud or by connecting the current loop interface To understand more about the format of the serial data read the Serial Communications chapter For details on the current loop and pulse width outputs read the chapter titled Current Loop and Pulse Width Outputs For...

Page 8: ...curacy section for noise and range information Custom configurations of the AccuRange 4000 are also possible The AccuRange 4000 operates by emitting a modulated collimated beam of laser light and converting the distance to the target surface to an RS 232 or RS 422 485 output The range may be read via the serial cable as digital data or from the optional analog current loop output A second cable su...

Page 9: ...f the sensor has 4 blind holes which are threaded for 6 32 bolts for mounting the sensor The back of the sensor has a switch for configuration and reset LED and two 6 foot cables The first is for serial communication the second contains power and analog signals The weight of the AccuRange 4000 is 22 ounces Figure 1 Mechanical Specifications The outer case of the sensor is 125 aluminum The acrylic ...

Page 10: ...45 C 113 F If the sensor is to be used in temperatures below 0 C 32 F apply power to the heater power supply lines This will allow the sensor to maintain a constant internal temperature ensuring optimum operation Do not point the sensor at the sun or other intense heat sources The sensor will operate when pointed at sunlit areas although sensitivity is reduced The optional optical filter is recomm...

Page 11: ...ble The table below shows the wiring on systems ordered without power supplies See the section on power supplies and safety interlocks for the wiring on systems ordered with power supplies 4 1 1 Power and Signal Cable Wire Descriptions Line 1 5V power at 300 milliamps Maximum noise 10 millivolts p p Color Red Power supplies from 5 to 6 volts may be used Higher voltages will result in excessive cur...

Page 12: ... F change in sensor temperature and should read about 2 5 volts when the sensor is at 85 F This output should be left open when not in use Line 6 Pulse Width Range Signal Pulse width square wave OR Optional Current Loop Range Output 4 20 milliamps 10 V max output Color Blue In the standard AccuRange 4000 configuration this output provides an uncalibrated measure of range The period of the pulse is...

Page 13: ...be grounded at supply end 4 2 Power Supplies and Safety Interlocks 4 2 1 LIR and LV Power Supplies The optional AC to DC power supplies for the AccuRange 4000 LV and 4000 LIR supply operating power and temperature stabilization heater power to the sensors They are housed in NEMA 4 polycarbonate enclosures and are permanently attached to the AccuRange 4000 power signal cable with 6 feet of cable be...

Page 14: ...e LIR and LV power supply boxes AR4000 Power Supply Dimensions Wire Function Direction Red No Connection Black Ground Orange No Connection In Brown No Connection Yellow Temperature 0 5 Volt Out Blue Pulse Width Range or Optional Current Loop Range Out Green Ambient light signal 0 5 V Out Purple Amplitude signal 0 5 V Out Shield No Connection LIR and LV Power Supply Signal Cable Wiring ...

Page 15: ...lift the top half of the case All of the lines in the AccuRange Power and Signal cable are connected straight through except that the red power line passes through the keyswitch and jack before powering the laser Removing either the key or the jack or turning off the key breaks the sensor power circuit When the circuit is complete the indicator lamp on the box will light and power is applied to th...

Page 16: ...AR4000 User s Manual 10 LLL004001 Rev 2 7 IR Interlock Box Mechanical Dimensions 4000 LIR with Interlock Box ...

Page 17: ...ace response to the DTR flow control input is controlled by the Flow Control configuration parameter If flow control is enabled and the host computer sets DTR false the sensor will stop transmitting If flow control is disabled DTR will be ignored If output is suspended in the middle of a sample the remainder of the sample will be transmitted when DTR is asserted by the host but subsequent samples ...

Page 18: ...stabilization attach the heater power lines to a 5 volt supply The AR4000 requires at least 5 volts for sensor power so if the same supply is used for the sensor power as for the heater power make sure that the lines are connected together at the supply Tying them together at a distance from the supply may cause voltage drops in the power lines due to the heavy currents up to 4A in cold conditions...

Page 19: ...oop output if installed with the same update rate The frequency of the pulse width output will be higher See the Pulse Width Output section The current loop should put out 4 mA at zero range and 20 mA at 650 inches Check either or both of these signals to verify basic sensor operation 7 3 Troubleshooting If the LED does not come on then blink once and stay on check the power supply wiring If the l...

Page 20: ...lts at the end of the 6 foot sensor cable 7 3 2 Range Output Check If the range output is in error check that the sensor and target are stationary and stable that the target is about 8 feet from the sensor as an initial test range and that the beam is hitting the target The sensor may need to warm up before reaching full accuracy leave it on for a few minutes and re check the range accuracy One wa...

Page 21: ...erval and computing the standard deviation of that set of samples For example a set of 10 samples taken at a 100 Hz sampling rate over a total elapsed interval of 0 1 second on a stationary white target at a range of 8 meters can be expected to have a standard deviation of about 02 in for the 4000 LIR and 08 in for the 4000 LV Note that sampling much faster than 100 Hz will result in greater stand...

Page 22: ... other temperatures may reduce the accuracy of the measurements taken There are three types of noise that will affect the measurement accuracy in different ways They are described below but each has a range of sample rates at which it is the predominant source of noise Figure 2 shows the accuracy limit imposed by each type of noise for a given sample rate The first type is detector thermal noise w...

Page 23: ...he standard deviation of this drift is about 0 01 in at 1 second and 05 in at 10 hours for the IR version and up to 1 in 10 hours for the visible model Much of this noise shifts to higher frequencies up to several kilohertz if the target is moving or vibrating even slowly This fact can be used to filter out this noise if low frequency sampling is being done on a moving target The motion effectivel...

Page 24: ...utput compensates for varying reflectivity The amplitude output can also be used to create grayscale images of objects over which the beam is scanned and to determine whether a signal is valid or too weak to be reliable Temperature and the ambient light level also affect the measurement slightly Analog temperature and ambient light outputs allow these effects to be compensated for in software but ...

Page 25: ...r consists of a raw uncorrected range reading in sensor count units the reflected signal strength background light level and sensor temperature The size of the sensor count units in uncalibrated mode will depend on the maximum range and sample rate specified If both calibrated and uncalibrated outputs are enabled the calibrated data is transmitted first followed by the uncalibrated information Eac...

Page 26: ...1 100ths of an inch in English output or mm in metric ouput followed by one byte with value FF Hex for framing The maximum value of the distance word is FEFF Hex to prevent framing ambiguity The distance is transmitted low byte first Synchronization should be performed by halting the serial output and then restarting it after flushing the serial input to the host or by verifying that only one byte...

Page 27: ...ple interval down to a sample rate of about 200 samples per second At lower sample rates the pulse will repeat one or more times per sample The width of the low portion of the pulse is proportional to range plus a constant offset Zero range does not give zero pulse width The pulse duration is also scaled each time a new Sample Rate or Maximum Range command is issued The scaling is by factors of 2 ...

Page 28: ...amples per second for calibrated output 3300 samples per second for uncalibrated output The sample rate is programmable to any rate below this down to one sample per 10 seconds with a resolution of 1 microsecond Valid arguments for the sample rate command are 20 microseconds per sample to 9999999 microseconds per sample Sample rate has a slightly different meaning for serial output and for the opt...

Page 29: ... the resolution of the digital to analog converter used This may become noticeable for large span settings since the inherent sensor resolution for low sample rates is better than 1 part in 10 000 The table below shows the resolution that will be obtained for a variety of sample rate and maximum distance settings Current loop output is generated with a resolution of 1 part in 4000 and is linear wi...

Page 30: ...D command is used the message EEPROM VALUES INVALID is sent over the serial port as the present baud rate or at 9600 baud if the failure occurs on power up This will happen if the data has been corrupted due to a power failure during EEPROM write or some other reason The sensor will then halt with the indicator lamp flashing until the switch is pressed When operation continues the sensor will be c...

Page 31: ...ic parameter entry It is advisable to always terminate single commands or the last command in a sequence with a character such as CR or to ensure immediate command execution regardless of the length of numeric parameters entered All commands sent over the serial line are alphanumeric ASCII characters allowing terminal keyboard entry Command characters may be upper or lower case To enter commands w...

Page 32: ...hen using the switch and LED to enter commands many optional parameters may only be set to their present values since high resolution entry is not possible with the switch as an input device Default settings are for the factory configuration The notation Serial Entry Only indicates that the command cannot be given using the pushbutton on the back of the sensor Command Name Length Command Code Defa...

Page 33: ...utput enabled uncalibrated outputs disabled flowctl disabled Set Baud Rate 2 bytes ASCII Code B Baud Rate Code 1 300 2 600 3 1200 4 2400 5 4800 6 9600 7 19200 8 38400 Input switch code 10 Baud rate Code 9600 baud Set Serial Output to ASCII Serial Entry Only 1 byte ASCII Code D ASCII Output Set Serial Output to Binary Serial Entry Only 1 byte ASCII Code N Set Analog Zero Current 1 5 bytes ASCII Cod...

Page 34: ... ASCII Code I Input Switch Code 15 Set Temperature Hold Level 1 3 bytes ASCII Code C Temp To Hold Temp To Hold 32 99 in o F Input Switch code 13 95o F Take Single Sample Serial Entry Only 2 bytes ASCII code E Cal Uncal 1 calibrated 2 uncalibrated 3 both Set Minimum Valid Amplitude 1 4 bytes ASCII Code P Amplitude Input Switch Code 17 0 Set Maximum Valid Amplitude 1 4 bytes ASCII Code M Amplitude I...

Page 35: ...ple rate code values and resultant sample rates are Sample Rate Code Sample Rate 1 1000 samples second 1000 microsec sample 2 100 samples second 10000 microsec sample 3 10 samples second 100000 microsec sample 4 1 sample second 1000000 microsec sample Set Maximum Range 1 6 bytes ASCII Code F Max Range 0 Max Range 99999 Default 650 inches Input switch code 5 Specifies the maximum range the sensor w...

Page 36: ... to reverse the direction of increasing distance values for the serial and current loop outputs by setting the zero point and then using the U Set Span command with a closer location specified See the Set Span command Set Zero Point Uncalibrated 1 8 bytes ASCII Code Y Zero Point 0 Zero Point 9999999 Default Zero counts Input switch code 16 Applies to serial and current loop outputs Sets the zero p...

Page 37: ...h Set Zero Point the full scale range position will change by the same amount so that the span is preserved Generally the span should be set after the zero point Set Analog Output Mode 2 bytes ASCII Code X Type Type 1 Calibrated 2 Uncalibrated 3 off Default Calibrated if current loop installed Input switch code 4 Selects whether the current loop output will be based on the calibrated distance or o...

Page 38: ...re enabled the calibrated distance is followed by the sensor information Calibrated distance measurements are corrected for signal strength and temperature with the AccuRange 4000 internal calibration algorithm Calibrated output is the form typically used unless the amplitude and other information is also required See the Output Data Formats section for a detailed description of the possible outpu...

Page 39: ...modes Flow control may also be disabled with this command Set Baud Rate 2 bytes ASCII Code B Baud Code Default 9600 Baud Baud Code 6 Input switch code 10 Baud Code Sets the baud rate to the specified value as given by the following table Note that if the baud rate combined with the number of bytes sent per sample as determined by the output format ASCII or Binary Calibrated or Uncalibrated exceeds...

Page 40: ...ero current to a level below its present value with the button must be done in 2 steps The first is this step The second is to use Set Zero Current to Present Reading Button Option Code 2 Set Zero Current to Present Reading The zero current value is set to the present current level being output To use this command first use the Set Zero Current to Zero command above Then point the sensor at a targ...

Page 41: ...led description of the serial data stream in binary format Set Temperature Hold Level 1 3 bytes ASCII Code C Temp To Hold Temp To Hold 32 99 in o F Factory Default 95o F Input Switch Code 13 If power is applied to the temperature control power supply lines the temperature will be maintained at this temperature or higher in the AccuRange 4000 On power up the time to reach the target temperature is ...

Page 42: ...plitude Input Switch Code 18 Factory Default 1023 Distance output calculated for all amplitudes Sets the amplitude signal strength ABOVE which the calibrated distance output from the serial port and current loop will be zero This may be used to detect and prevent what would be inaccurate readings resulting from sensor overload If no parameter is entered or the switch is used to issue this command ...

Page 43: ...AR4000 User s Manual 37 LLL004001 Rev 2 7 14 Data Sheet Summary of Specifications Download the most recent data sheet at www acuitylaser com pdf ar4000 data sheet pdf ...

Page 44: ...ind spot of about 60 degrees of arc The line scanner is intended to be primarily used as a constant speed scanner although it is possible to control the position of the mirror through software to create a point to point scanner 15 2 Scanner Performance Specifications Mirror Reflectance 96 Total losses are 8 for the outgoing and return light together This results in a slight reduction in sensitivit...

Page 45: ...s A and B are standard quadrature signals 50 duty cycle square waves 90 degrees out of phase Do not attempt to remove the encoder from the motor Encoder alignment is critical and will be lost If necessary the mirror can be removed from the motor shaft by loosening the two set screws holding the mirror sleeve to the shaft but increased vibration at high motor speeds may result after reinstallation ...

Page 46: ...AR4000 User s Manual 40 LLL004001 Rev 2 7 15 4 Line Scanner Data Sheet Download the most recent datasheet at www acuitylaser com ...

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