Protocols • 178
Gocator 1100 & 1300 Series
Selcom Serial Protocol
This section describes the Selcom Serial Protocol settings and message formats supported by Gocator
sensors.
Data communication is synchronous using two unidirectional (output only) RS-485 serial channels: data
Connection Settings
Selcom Serial Protocol uses the following connection settings:
Serial Connection Settings
Parameter
Value
Data Bits
16
Baud Rate (b/s)
96000, 512000, 1024000
Format
Binary
Message Format
The data channel is valid on the rising edge of the clock and data is output with the most significant bit
first, followed by control bits for a total of 16-bit of information per frame. The time between the start of
the camera exposure and the delivery of the corresponding range data is fixed to a deterministic value.
The sensor support can output data in either 12 or 14 bits, illustrated below:
MSB = most significant bit, LSB = least significant bit, C = data valid bit (high = invalid)
11
10
9
8
7
6
5
4
3
2
1
0
LSB
MSB
C
C
C
DATA
CLOCK
BIT
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
SELCOM SERIAL 12-BIT DATA FORMAT
13
12
11
10
9
8
7
6
5
4
3
2
1
LSB
MSB
0
C
DATA
CLOCK
BIT
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
SELCOM SERIAL 14-BIT DATA FORMAT
The results are scaled according to the number of serial bits used to cover the data scale range. Refer to
Serial Output (page 229) for information on how to configure the data scale range.
Summary of Contents for Gocator 1100 Series
Page 1: ...USER MANUAL Gocator 1100 1300 Series Version 3 6 5 15 Revision C...
Page 187: ...Specifications 187 Gocator 1100 1300 Series Envelope 21 0 40 0 20 0 71 0 2 1 19 3 101 4...
Page 189: ...Specifications 189 Gocator 1100 1300 Series Envelope 0 39 0 87 5 120 7 0 1 2 11 4 40 0 60 0...
Page 191: ...Specifications 191 Gocator 1100 1300 Series Envelope 21 0 182 5 35 0 72 2 102 8 2 8 19 6...
Page 193: ...Specifications 193 Gocator 1100 1300 Series Envelope 0 39 0 88 9 122 2 0 11 8 1 6 182 5 217 5...
Page 196: ...Specifications 196 Gocator 1100 1300 Series Envelope 21 0 200 0 200 0 72 3 103 1 2 8 19 7...
Page 199: ...Specifications 199 Gocator 1100 1300 Series Envelope 0 39 0 88 9 122 6 0 12 0 1 6 200 0 400 0...
Page 202: ...Specifications 202 Gocator 1100 1300 Series Envelope 21 0 237 5 325 0 72 3 103 2 2 8 19 8...
Page 205: ...Specifications 205 Gocator 1100 1300 Series Envelope 0 39 0 89 0 122 7 0 12 0 1 7 237 5 562 5...
Page 208: ...Specifications 208 Gocator 1100 1300 Series Envelope 21 0 375 0 562 5 72 6 103 3 3 0 19 9...
Page 211: ...Specifications 211 Gocator 1100 1300 Series Envelope 0 39 0 89 0 122 7 0 12 0 1 7 237 5 562 5...
Page 214: ...Specifications 214 Gocator 1100 1300 Series Envelope 400 0 21 0 250 0 72 4 103 3 2 8 19 8...
Page 217: ...Specifications 217 Gocator 1100 1300 Series Envelope 0 39 0 89 0 122 7 0 12 0 1 7 250 0 650 0...
Page 220: ...Specifications 220 Gocator 1100 1300 Series Envelope 21 0 500 0 2000 0 200 1 231 4 2 7 19 9...