APPROVED BY CHECKED BY DRAWN BY DESIGNED BY TITLE DRAWING NO. SYMBOL CORRECTIONS PAGES DATE CORRECTED BYNO COMMUNICATION PROTOCOL SPECIFICATION - URG SERIES C-42-3320-A 1/8 DATE: FEB.2nd 2004 URG Series Communication Protocol Specification VPA05.02.03KawataTITLE DRAWING NO. COMMUNICATION PROTOCOL SPECIFICATION - URG SERIES C-42-3320-A 2/2 2D Sensor Communication Protocol Specification (SCIP Ver1.1) # Communication Specification # URG-X002 has provisions for RS-232C and USB interfaces. The real time monitoring of USB port enables the automatic switching, there is no need to restart the sensor or perform any other special task for connection. Priority is given for USB connection if USB port is connected to the host. Standard of USB is Communication Device Class (CDC). Usages are identical to RS-232C However USB connection will provide large amount of data with very high speed. RS-232C Baud Rate : 19.2Kbps, 57.6Kbps, 115.2Kbps, 250Kbps, 500Kbps, 750Kbps Parity : None Data Bit : 8 Stop Bit : 1 Flow Control : None USB Version : 2.0 Communication Speed : Max. 12Mbps [Active 9Mbps] Device Class : Communication Device Class Caution : Access to the device from the application should be done only when the host-device configuration is complete and host recognizes the device. Port should be opened only after the OS assigns it to the device.TITLE DRAWING NO. COMMUNICATION PROTOCOL SPECIFICATION - URG SERIES C-42-3320-A 3/3 # Communication Format # Communication format from the host side is “Command”, “Parameters” (if necessary) and “Termination Symbol” (ex. Line feed[0a16] or carriage return[0d16]) in succession. Reply from the device will echo back with the “Status”, “Line feed” and depending upon the command “Data” and finally the “Termination Symbol”. Termination symbol from the host is one byte while from the device is 2 byte data to differentiate them. There are 4 types of command in SCIP 1.1 (1) Version Command (2) Laser Illumination Command (3) Communication Speed Setting Command for RS-232C (4) Distance Data Acquisition Command In the next version of the SCIP we are planning to add control command for data check and the other commands. (HOST->SENSOR) Command Parameter LF (0a16) or CR (0d16) (SENSOR->HOST) Command Parameter LF Status LF Data LF LF  Communication is initiated from the host side.  There are no initiation codes. Termination code is either Line Feed (0a16) or Carriage Return (0d16).  Command and the parameters will echo back with the status and data attached to it.  The block check code does not have any type.  Status other than ‘0’ (3016) is the error code.  The LF separates the received data after every 64 bytes if the data size exceeds 64 bytes.  Two LF appear continuously at the end of the received data.TITLE DRAWING NO. COMMUNICATION PROTOCOL SPECIFICATION - URG SERIES C-42-3320-A 4/4 # Command Types # [V-Command (Version Information)] (HOST->SENSOR) ‘V’(5616) LF or CR (SENSOR->HOST) ‘V’(5616) LF Status LF Vender Information LF Product Information LF Firmware Version LF Protocol Version LF Sensor Serial Number LF LF Example : V[LF] 0[LF] VEND:Hokuyo Automatic Co., Ltd.[LF] PROD: SOKUIKI Sensor URG-X002[LF] FIRM:0.01.22a,(2004/12/27)[LF] PROT:00001,(SCIP 1.0)[LF] SERI: H0400000[LF][LF] [L-Command (Laser Illumination Control)] (HOST->SENSOR) ‘L’(4c16) Control Code (1 Byte) LF or CR (SENSOR->HOST) ‘L’(4c16) Control Code (1 Byte) LF Status LF LF 1). Laser is switched on when the control code is ‘1’. It will be switched off when the code is ‘0’. Control codes other than these return errors. 2). By default, whenever the sensor is switched on laser illuminates automatically even if it was switched off before.TITLE DRAWING NO. COMMUNICATION PROTOCOL SPECIFICATION - URG SERIES C-42-3320-A 5/5 [S-Command (Communication Settings)] (HOST->SENSOR) ‘S’(5316) Baud Rate (6 Digits) Reserved Area (7 Digits) LF or CR (SENSOR->HOST) ‘S’(5316) Baud Rate (6 Digits) Reserved Area (7 Digits) Status LF LF 1). Default communication speed is set to 19.2 kbps. It can be changed to 57.6, 115.2, 250, 500 and 750 kbps by varying the settings. Example : 57.6Kpbs -> “057600” (ASCII 6Digits) 115.2Kpbs -> “115200” (ASCII 6Digits) 2). Changes in the baud rate can be done only when the host gets the acceptance status ‘0’.3). When the USB connection is used the command is accepted but it will not have any influence on the baud rate. Data in the reserved area are echoed without any influence in the sensor. [G-Command (Distance Data Acquisition)] The maximum measurable distance of the sensor is 4095 mm with 1mm resolution. Each data are expressed with 12 bits (0~4095 range). In order to reduce the data volume, 6-bit binary code is converted to 1-byte character codes. The encoding process is very simple where, the 12 bit data is separated into 6 bit each and 3016 added to them. Example: 1234mm = 0100110100102 ↓ separation (0100112,0100102) = (1316, 1216) ↓ Add 3016 (4316, 4216) = (‘C’, ‘D’) Decoding process is the inverse of encoding where, 3016 is subtracted from the data and merged using the big-endian system. Upon sending G-command the sensor will send back the distance data currently saved in the sensor memory. In the next SCIP version we are planning to introduce an option command upon receiving which the sensor will measure the distance and send the data to the host. The other option will be 1msec, 24bit “Time stamp”.TITLE DRAWING NO. COMMUNICATION PROTOCOL SPECIFICATION - URG SERIES C-42-3320-A 6/6 (HOST->SENSOR) ‘G’(4716) Starting Point (3 Digits) End Point (3 Digits) Cluster Count (2 Digits) LF or CR When the data is less than 64 bytes: (SENSOR->HOST) ‘G’(4716) Starting Point (3 Digits) End Point (3 Digits) Cluster Count (2 Digits) LF Status LF Data LF LF When the data is exactly 65 bytes (Full N Block): (SENSOR->HOST) ‘G’(4716) Starting Point (3 Digits) End Point (3 Digits) Cluster Count (2 Digits) LF Status LF Data Block 1 (64 Byte) LF ······················· LF Data Block N (64 Byte) LF LF When the data is more than 65 bytes (Full N Block with excess of n bytes): (SENSOR->HOST) ‘G’(4716) Starting Point (3 Digits) End Point (3 Digits) Cluster Count (2 Digits) LF