Nexus Automation Nexus Robot, User Manual, Page: 31 / 128

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Communication Protocols
The device is fixed at 19200 bps Baud Rate,8/N/1.
Set Device Address
Command:
Return Value
：
Header Address Length Cmd Flag SUM
55 Aa ADD 1 55 S SUM
PS: All connected SONAR will be changed to the given address. The new address must be between
0x11 and 0x30. If the address is set successfully, the flag will be set to 0x01 in the return data. If
unsuccessful, there is no return data. (The default address for the sensor is 0x11)
Example:
Command:
0x55 0xaa 0x11 0x01 0x55 0x12 0x79 (Set Address to 0x12)
Return:
0x55 0xaa 0x12 0x01 0x55 0x01 0x69 (Address set successfully)
Trigger measurement
Command:
Header Address Length Cmd SUM
55 aa AD 0 01 SUM
Return Value
：
None
PS: Trigger one measure. The distance data will be available after 30ms. This command do not return
any data. The distance data is stored in the buffer, and the Read Distance command can be applied to
get this distance data.
Example:
Command:
0x55 0xaa 0x00 0x01 0x00
Return:
None
Header Address Length Cmd Set Address SUM
55 Aa AB 1 55 ADD SUM