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SERIAL PROTOCOL 

 

USER’S MANUAL 

SWEEP

 V1.0 

 

Copyright ©2014-2017 Scanse LLC - www.scanse.io 

 

Model 

 

Protocol Version 

 

Firmware Version 

 

Hardware Version 

 

Serial Number 

(HOST -> SENSOR) 

LF 

 
(SENSOR -> HOST) 

Model  
(5 bytes) 

Protocol 
(2 bytes) 

Firmware Version  
(2 bytes) 

Hardware Version 
(1 byte) 

Serial Number  
(8 bytes) 

LF 

Example: IVSWEEP01011100000001 

SWEEP 

01 

01 

00000001 

LF 

 

 

 

Bit Rate 

 

Laser State 

 

Mode 

 

Diagnostic 

 

Motor Speed 

 

Sample Rate 

(HOST -> SENSOR) 

LF 

 
(SENSOR -> HOST) 

Bit Rate  
(6 bytes) 

Laser state 

Mode 

Diagnostic 

Motor Speed 
(2 bytes) 

Sample Rate 
(4 bytes) 

LF 

Example: IV115200110050500 

115200 

05 

0500 

LF 

 

 

 

Reset Scanner 

(HOST -> SENSOR) 

LF 

 
(SENSOR -> HOST) 

No Response 
 

Содержание SWEEP V1.0

Страница 1: ...2017 Added power safety text Laser Safety 0 Power Safety 0 Specifications 1 Physical 1 Electrical 1 Measurement Performance 1 Field of View 1 Measurement Error Test Data 1 Overview of Interfaces 2 Connector 2 Mounting and Vibration Considerations 2 Mounting Features and Orientation 3 Ingress Protection Rating 3 Enclosure Window Design 3 Theory of Operation 3 Distance Measurement 3 Angle Measuremen...

Страница 2: ... see Theory of Operation Sweep is a single plane scanner This means that as its head rotates counterclockwise it records data in a single plane The beam starts out at approximately 12 7mm in diameter and expands by approximately 0 5 degrees as show in Figure 2 Figure 2 Sweep Field of View Figure 3 Sweep Accuracy Graphs 0 10 20 30 0 5 10 15 20 25 30 0 1000 2000 3000 4000 cm Measurement Variability ...

Страница 3: ...cable if needed for your application These components are readily available Part Description Mfg Part No Connector Housing 6 Position rectangular housing latch lock connector receptacle with 1 25 mm 0 049 in pitch JST GHR 06V S Connector terminal 26 30 AWG crimp socket connector JST SSHL 002T P0 2 Wire UL 1061 26 AWG stranded copper N A N A Sweep can be mounted in any orientation Sweep s rotating ...

Страница 4: ...he amount of laser light that is reflected as it passes through the window s surface Sweep employs a time of flight ranging method This technique involves transmitting a packet of micro pulses of light in a unique pattern When this light bounces off an object and returns to the receiving detector a correlation algorithm is used to identify the unique light pattern from ambient noise Each light pac...

Страница 5: ...de a way to quickly evaluate Sweep s performance in your application environment For some applications like surveying our visualizer can be used to take quick measurements between range data points within a scan It contains a programming tool for updating Sweep s firmware A full tutorial for using the visualizer can be found in software support section at support scanse io Specification Value Bit ...

Страница 6: ...e Command can have LF or CR or both as termination code but reply will always have LF as its termination code Status 2 bytes of data in reply that informs normal processing if command is authenticated or errors if undefined invalid or incomplete command is received by sensor Status other than 00 and 99 are error codes Sum of Status 1 byte of data used in authentication Calculated by adding status ...

Страница 7: ...ns at the top distance Distance of range measurement signal strength Signal strength of current ranging measurement Larger is better Range 0 255 checksum Calculated by adding the 6 bytes of data then dividing by 255 and keeping the remainder Sum of bytes 0 6 255 Status 00 Command received without any Error 22 Stopped to verify error 55 Hardware trouble 99 Resuming operation Stops outputting measur...

Страница 8: ...1 02 00 Motor stopped SENSOR HOST M S Speed Hz 2 bytes LF Status Sum LF Default Sample Rate 500 600Hz See Theory of Operation section for explanation of why there is arrange of sample rate values HOST SENSOR L R Speed Parameter 2 bytes LF Sample Rate Parameter Code 01 500 600Hz 02 750 800Hz 03 1000 1075Hz SENSOR HOST L R Speed Hz 2 bytes LF Status Sum LF Returns current LiDAR Sample Rate Code 01 5...

Страница 9: ...irmware Version 2 bytes Hardware Version 1 byte Serial Number 8 bytes LF Example IVSWEEP01011100000001 I V SWEEP 01 01 1 00000001 LF Bit Rate Laser State Mode Diagnostic Motor Speed Sample Rate HOST SENSOR I D LF SENSOR HOST I D Bit Rate 6 bytes Laser state Mode Diagnostic Motor Speed 2 bytes Sample Rate 4 bytes LF Example IV115200110050500 I D 115200 1 1 0 05 0500 LF Reset Scanner HOST SENSOR R R...

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