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Chapter 3 Communications from Host
3-4 Command List and Response List
3D TOF Sensor Module B5L User's Manual (No. E596)
3-4 Command List and Response List
Command list
Usage
Command
No.
Command name
Command function
Connection check
00Hex
Get version
Acquires model/version
Basic setting
86Hex
Set operation mode
Sets operation mode
84Hex
Set result acquisition format
Sets result acquisition format
Parameter setting
88Hex
Set exposure time
Sets exposure time/frame rate
8AHex
Set T3D rotation angle
Sets rotation angle for rotated Cartesian
coordinate system
8EHex
Set LED emission frequency ID Sets LED emission frequency ID against
interference
90Hex
Set MIN_AMP (for all range)
Sets minimum amplitude for all range
92Hex
Set MIN_AMP (for close
distance)
Sets minimum amplitude for close distance
95Hex
Set enabling/disabling operation
check LED
Sets enabling/disabling of operation check
LED
97Hex
Set response speed
Sets response speed
99Hex
Set ENR threshold
Sets edge threshold for edge noise
reduction
Operations
instruction
80Hex
Start distance measurement
Emits LED and starts distance
measurement
81Hex
Stop distance measurement
Stops LED emission and stops distance
measurement
82Hex
Get result
Acquires distance result/amplitude result
Setting acquisition
87Hex
Get operation mode
Acquires operation mode
85Hex
Get result acquisition format
Acquires result acquisition format
89Hex
Get exposure time
Acquires exposure time/frame rate
8BHex
Get T3D rotation angle
Acquires rotation angle for rotated
Cartesian coordinate system
8FHex
Get LED emission frequency ID Acquires LED emission frequency ID
against interference
91Hex
Get MIN_AMP (for all range)
Acquires minimum amplitude for all range
93Hex
Get MIN_AMP (for close
distance)
Acquires minimum amplitude for close
distance
94Hex
Get θφ
table
Acquires θφ
table in polar coordinate system
96Hex
Get enabling/disabling operation
check LED
Acquires enable/disable operation check
LED
98Hex
Get response speed
Acquires response speed
9AHex
Get ENR threshold
Acquires edge threshold for edge noise
reduction
Status acquisition
9BHex
Get imager temperature
Acquires current imager temperature
9CHex
Get LED temperature
Acquires current LED temperature
Other instruction
9EHex
Initialize parameters
Resets all parameters
9FHex
Reset software
Resets this product
Response code list
Error code Error details
00Hex
Normal end
FFHex
Undefined command
- Issued when a received command is not found in the command list
FEHex
Internal error
FDHex
Illegal command
- When an illegal parameter is input
FCHex
Command not executable
- An execution of a command was attempted that cannot be executed during distance measurement
.
- An execution of a command that can be executed only during distance measurement was
attempted while distance measurement is being stopped
.
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