Velodyne Digital Drive, User Manual

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Appendix A: RS-232 Serial Overview and Commands
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w w w . v e l o d y n e . c o m
Digital Drive User’s Manual
I n t r o d u c t i o n
This document outlines Velodyne’s Digital Drive (DD) RS - 232 protocol specification. This
protocol indicates how Digital Drive products receive run - time commands from devices such as
Creston Universal Remote Controls.
C o m P o r t S e t u p
Use standard communications settings: Baud Rate: 9600, Data Bits: 7, Parity: None, Stop
Bits: 1
D D I N a n d O U T P o r t P i n C o n f i g u r a t i o n
DD serial ports use a standard configuration that allows direct connection to a PC via a FEMALE
to MALE serial cable. It uses only 3 pins (Transmit, Receive, Ground).
The pin configurations are:
IN: Pin 2 = Transmit
Pin 3 = Receive
Pin 5 = Ground
OUT: Pin 2 = Receive
Pin 3 = Transmit
Pin 5 = Ground
Runtime Command Format
Byte Number Byte Description Notes
0 ‘#’ Header Character
1 to 3 or 4 Command and 3 to 4 ASCII characters see formats below
Parameter Data Case sensitive - CAPS ONLY!
4 or 5 ‘$’ Termination Character (required or
command is ignored)