LMI Technologies chroma+scan 24 0 Series, User Manual

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6.4.5 Free Mode Result Format
In Free mode, range coordinates are transmitted as (X, Z) pairs. Free mode has at least
two data blocks. The first (odd) data block contains information about the sequence
index, capture time, capture position and digital input states. The second (even) data
block contains the actual (X, Z) pairs for each line. To reduce the network overhead Free
Mode supports output batching. Output batching affects the number of data blocks.
Since even and odd data blocks belong together, the number of data blocks will always
be a multiple of two. Similarly the batch count can be determined by dividing the number
of data blocks by two.
Free mode messages have ID 1 and use the string
“Free”
in the Get Mode and Set
Mode Host Protocol commands.
Free Message Attributes
Field Type Description
deviceId 64s Sensor serial number
xResolution 64s Unit of X values (microns)
yResolution 64s Spacing between laser lines (microns)
zResolution 64s Unit of Z values (microns)
nullRange 64s Value representing an invalid profile point
Free Message Descriptors [2 * batchcount]
Field Value Description
Length0 4
Number of entries in:
Free Message Data[2 * batchcount]
Length1 0 N/A
Length2 0 N/A
Free Message Descriptors [2 * batc 1]
Field Value Description
Length0 lines Number of lines.
Length1 width
Number of ranges per profile. The number is
determined by characteristics of the sensor
during manufacturing.
Length2 2 Number of channels is two: X and Z
Free Message Data [2 * batchcount]
Field Type Description
frameIndex 64s Sequence index within a view
Timestamp 64s Capture time (microseconds)
Position 64s Capture position (encoder count)
Input State 64s Digital inputs
Free Message Data [2 * batc 1]
Field Type Description
ranges[lines][width][2] 16s Ranges: X and Z