S
ENSOR
C
OMMANDS AND
R
ESPONSES
Copyright LMI Technologies Inc. 2003
41
4.4.6
C
OMMAND
30
R
EAD
V
ERSION
N
UMBER
Purpose
Returns internal software version number.
Command Format
[
command
]
command
(1 byte)
30
Response Format
[
response
][
version
][
model
][
reserved
]
response
(1 byte)
30
version
(1 word )
0...255
model
(
1 word )
0...255
reserved
(2 words )
0
4.4.7
C
OMMAND
32
R
EAD
C
ONFIGURATION
V
ARIABLES
Purpose
Returns laser configuration parameters.
Command Format
[
command
]
command
(1 byte)
32
Response Format
[
response
][
lasercfg
][
laserpwr
][
interval
][
reserved
]
response
(1 byte)
32
lasercfg
(1 word)
ignore
laserpwr
(1 word)
0...31744
period
(2 words)
low word,high word
reserved
(1 word)
0
NOTE
: For further explanation of each parameter see chapter 7.3.2.
'Change Sensor Parameters'.
4.5
H
IGH
S
PEED
P
OLLING
M
ODE
4.5.1
G
ENERAL
D
ESCRIPTION
The SPR-02 sensor is capable of a special mode which utilizes a high speed transfer protocol
enabling range measurement in real time. When the high speed polling command is issued,
the sensor changes data transfer protocols. The potocol is a simple one. The sensor expects
one of two possible ASCII characters:
P
(50h)
Software encoder pulse. Each time the sensor receives command 50h it responds
by sending a range reading (1 word - LSB,MSB) back. The sensor will ignore all
other commands until it receives an F (46h).
F
(46h)
Finish high speed poll mode. The sensor changes back to its normal data transfer
protocol.
