Acuity AP820 Laser Scanners
Rev. 3.3
20
7.
Data Formats
7.1
Profile data
For every profile, 290 points will be sent. Every point in the profile will be defined
through an X- and a Z-value. The I-value refers to the intensity of a point and can be
used to define points as valid or invalid.
The scanner provides linearized profile data by default.
Switch to non-linearized profile data with the commands 0x16 0x80.
Calculate a linearized point from the X- and Z-value as follow:
X =
X.value[13−0]
X.max
∗ X Scan Range EMB ∗ Data resolution
[mm], X-max = 4096
Z =
Z.value[13−0]
Z.max
∗ Z Measurement Range EMB ∗ Data resolution
[mm], Z-max = 4096
The values X-max, Z-max, X Scan range EMB, Z Measurement range and Data resolution
can be received with the Info-Telegram. Data resolution is 0.1 for all scanners except the
AP820-1000 where it is 1.0.
Byte Number
Bit No.
Meaning
Profile Reg.1
6 to 0
X-value Bit 6 to 0
Profile Reg.2
6 to 0
X-value Bit 13 to 7
Profile Reg.3
6 to 0
Z-value Bit 6 to 0
Profile Reg.4
6 to 0
Z-value Bit 13 to 7
Profile Reg.5
7 to 0
I-value Bit 7 to 0 value range = 0x01(dark) to
0xFE(light)
