MEL M2D/LAN, Manual

Page: 21 / 39

M2D-Laser-Scanner with Ethernet-Interface Manual
HB-M2D-Ethernet-E Page 21 of 39 www.MElsensor.com
M
M
2
2
D
D
F
F
/
/
L
L
A
A
N
N
-
-
S
S
t
t
r
r
u
u
c
c
t
t
u
u
r
r
e
e
o
o
f
f
I
I
m
m
a
a
g
g
e
e
D
D
a
a
t
t
a
a
Protocol Version 1, linearized
Each measurement results in 283 points each 4 Bytes with coordinates X, Z and the intensity. X and Z are
resolved at 12 Bit, Intensity I is resolved at 4 Bit. In software version 2, 3 and 4 as many pixels were given as
indicated in the registers 34 and 35 of Eprom data.
Byte Nr. Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 0 X6 X5 X4 X3 X2 X1 X0
2 0 X8 X7 Z11 Z10 Z9 Z8 Z7
3 0 Z6 Z5 Z4 Z3 Z2 Z1 Z0
4 0 I7 I6 I5 I4 X11 X10 X9
Distance Z: 0..4095 Scan range X: 0..4095 Intensity I: 0..14
The value of the Bytes is never bigger than 254 (FEh).
Byte value = 255 (FFh) is invalid and appears, when the FiFo is empty.
Protocol Version 1, non-linearized
Each measurement results in 283 points each 4 Bytes with coordinates X, Z and the intensity. X and Z are
resolved at 10 or 11 Bit, Intensity I is resolved at 7 Bit.
Byte Nr. Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 0 X6 X5 X4 X3 X2 X1 X0
2 0 X9 X8 X7 Z10 Z9 Z8 Z7
3 0 Z6 Z5 Z4 Z3 Z2 Z1 Z0
4 0 I7 I6 I5 I4 I3 I2 I1
Distance Z: 0 … 2048 Scan range X: 0 … 1024 Intensity I: 0 … 127
The value of the Bytes is never bigger than 254 (FEh).
Byte value = 255 (FFh) is invalid and appears, when the FiFo is empty.
Protocol Version 2, linearized and non-linearized
Each frame results in a number of measurement results as the half of lines of the CCD chip.
For each line, 5 Bytes with coordinates X, Z and the intensity are transferred. X and Z are resolved at 14 Bit,
Intensity I is resolved at 8 Bit. (see
below ).
Byte Nr. Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 0 X6 X5 X4 X3 X2 X1 X0
2 0 X13 X12 X11 X10 X9 X8 X7
3 0 Z6 Z5 Z4 Z3 Z2 Z1 Z0
4 Z13 Z12 Z11 Z10 Z9 Z8 Z7
5 I7 I6 I5 I4 I3 I2 I1 I0
Linearized Non-linearized
Distance Z
Scan range X
Intensity I
depends from version
depends from version
1..254 0…4095
0… 4095
1..254
The value of the Bytes is never bigger than 254 (FEh).
Byte value = 255 (FFh) is invalid and appears, when the FiFo is empty.
With the current camera model and a 5 byte data format = 291 pixel per profile
P P r r o o t t o o c c o o l l V V e e r r s s i i o o n n 3 3
Protocol version 3 is identical to protocol version 2, except the 4 Byte encoder data sent with the scan profile data.
Protocol version 4 is reserved for future scanner models. The data format of the new 1.000 Hz generation is
different due to the new camera. Technical data is available on request.