DLS2000 LR User manual
Contents
1. Order Factor To change the order factor edit the value and Click on Set This item is used by the moving average filter and the smooth factor This number is the number of samples that are averaged centered on the sample being filtered It must be odd and between 1 and 19 i e An ORDER factor of 3 uses 3 elements to calculate the average value An ORDER factor of 19 causes 9 elements before and 9 elements after the element being filtered to be used in the average calculation Smooth Factor This item modifies the smooth factor used by the scan buffer filter programs This factor along with the order factor is used to apply a moving average filter to the current scan buffer Results of the smooth are as follows Smooth Order Results 0 X Moving average filter is off 30 0 5 Filtered Value 70 current value 30 Average of 5 samples A SMOOTH factor near 100 means the data buffer elements will be averaged heavily with adjacent elements in the buffer To change the smooth factor edit the value and Click on Set Interval This refers to the sensor s scan interval i e the rate at which sensor stores scanned samples in the scan buffer To change the scan factor edit the value and Click on Set Start Scan Starts filling the scan buffer with range readings at rate specified by Interval Stop Scan Stops filling the scan buffer Filter Filters the scan buffer usi2. If Show Al is not Checked then only Range reading is displayed 20 COMMUNICATIONS PROTOCOL This section describes the contents of the packet used to transmit commands and data between a host computer and a DLS2000LR sensor General Packet Protocol An asynchronous RS 485 serial communication link serves as the hardware interface between the host and the sensor s The software protocol describes the packet or group of information that is transmitted Generally this consists of e an address e acommand e optional data e Checksum or CRC Packet Description A packet consists of a string of bytes The same format is used to transmit from the host to the sensor and back What is a packet s maximum size The maximum size of any single packet is 259 bytes If the data block to be transmitted exceeds 259 bytes then the total data block must be transmitted with more than one packet For example if the total data consists of 700 bytes then this will take a total of 3 packets of data to be sent PACKET FORMAT STX Address CommandSize Command Data Data Checksum or CRC STX 1 byte Start transmission character 02 hex Address 1 byte 0 broadcast to all sensors 1 255 addressing a specific sensor Note This byte identifies the sender when received by the host Command Size byte Number of bytes from command to the last data byte Maximum 255 Command 1 byte 1 255 See command descriptions
3. sequence starts at the high value and decrements to 1 for last packet of scan scan data 1 126 Words Always 126 except for last packet sequence 1 NOTE The command should be issued by the host to determine how many samples are in the buffer before reading it see section 4 4 3 Read Current Sensor Status Ifa large buffer is requested the host must be capable of accepting up to 16 384 bytes into its own buffer without losing data If this buffer size is unavailable smaller packets should be requested The scan buffer can be read as many times as the host requires If unfiltered scans are required the host should read the scan buffer before requesting that the scan buffer be filtered 28 SET MODE OPERATION COMMANDS Command 09 Set Mode Purpose Sets the sensor s range and units of measurement The accuracy of the sensor s measurement depends on this range setting Once the MODE is set all measurement values are in inch or metric units accordingly Command Format command mode command 1 byte 09 mode 1 word O 00 000 32 000 1 00 000 32 000 2 0000 0 3200 0 mm 3 0000 0 3200 0 mm 4 000 00 320 00 5 000 00 320 00 6 00 000 32 000 m 7 00 000 32 000 8 0 0000 3 2000 9 0 0000 3 2000 10 000 00 320 00 mm 11 000 00 320 00 mm 12 000 00 266 00 ft 13 000 00 266 00 ft 14 000 00 320 00 m 15 000 00 3
4. What is the structure of a command packet Each command packet has the same structure as a data packet see Packet Example This means you must terminate each command packet with a Checksum or CRC What if the sensor detects an error If the sensor detects an error in the transmission it will ignore the command and not respond If there is no response from the sensor within 20 ms then the host application should assume an error occurred and retransmit the original command Re Synchronizing Timing This section describes the method of synchronizing the serial transmission between the host and the sensor Start of Transmission STX STX Start of Transmission character initiates packets transmission How do I make sure the host and sensor are synchronized Allow a period of 20 ms to pass without a response from the sensor BEFORE initiating a retransmission of the request to ensure synchronization 22 Sensor Upon receipt of an STX character the sensor will allow a maximum of 50 ms for the complete command packet to be transmitted by the host What if transmission time exceeds 50 ms The sensor will abort receiving the packet and start looking for another STX character To guarantee resynchronization of all sensors on a serial line the host application should stop all transmission for 200ms After this time all sensors on the serial line will be waiting to receive an STX character Host Upon receipt of an STX ch
5. which is illuminated when power is supplied to the sensor Additionally CFR 21 1040 standards require that the indicator be clearly visible through protective eyewear designed specifically for the wavelengths of the emitted laser radiation Beam Attenuators CFR 21 1040 standards also specify that a permanently attached method of preventing human access to the laser radiation other than switches power connectors or key control must be employed None of the items mentioned above are supplied with the DLS2000LR and are the responsibility of the OEM to supply when incorporating the DLS2000LR into their system or product USING THE DLS2000LR The DLS2000LR can be used in a wide variety of measurement applications including Object profiling Thickness measurement Parts inspection Object alignment Range measurement On line quality control The DLS2000LR is a smart sensor incorporating an internal processor to handle calibration scaling and data conversion The DLS2000LR provides analogue output 0 10 VDC current output 4 20mA and a digital serial output RS 485 57 6kBaud Triangulation Principle Ob bot 2 Detoted hen m Ob kot amp Dtotdherw o DL 2000 LR oe CCD Array hee ee Lens Laser Beam As the distance from the sensor to the ob ject changes the ight from the object is Object at Position A detected ata different pixel the CCD i Si a Object at Position B Figure 1 Standoff Ran
6. 31744 period 2 words low word high word 60 120 180 x 0 01ms reserved 1 word 0 if using CRC Command Command Byte 33 Success 0 Fail If using ChkSum None NOTE For further explanation of each parameter see section 7 3 2 Change Sensor Parameters 31 Command 92 Purpose Command Format 57600 Response Format Set Baud Rate of the Sensor Puts sensors to specific baud to match the RS 485 serial input and output ports baud rate command Baud Command Byte 92 Baud 1Byte 0 9600 1 19200 2 38400 3 if using CRC Command Command Byte 92 Success 0 Fail If using ChkSum None Command 135 __Get Baud Rate of the Sensor Response Reads Sensors Baud setting Response Format command Baud Command 1 Byte 135 Baud 1 Byte Command 77 Set Error Changing to CRC Checksum Purpose Changes sensor s error check from CRC to Checksum or vice versa Command Format Response Format Command 66 Purpose Command Format Response Format Command 84 command Mode Command 1 Byte 77 Mode 1 Byte 0 CRC 1 Chksum if using CRC Command Command Byte 71 Success 0 Fail If using ChkSum None Set to Defaults Sets all sensor parameters to Factory Defaults command Command 1 Byte 66 if using CRC Command Command Byte 66 Success 0 Fail If using ChkSum None Write Minimum Laser Power 32 Purpose Command Format Response Format Comman
7. Data Data 1 byte Number of bytes is command dependent Checksum 1 byte 2s Complement sum of all bytes inclusive of STX and last data byte OR CRC 2 bytes 16 bit CRC of all bytes inclusive of STX and last data byte PACKET EXAMPLE To request the current range value from the sensor the host computer program should send the following message packet 21 02 address 1 12 Checksum 1 byte STX Character Device Address Command Size Command read CRC 2 bytes NUMERIC FORMATS The following describes the format of numbers contained within a packet Byte Always an unsigned 8 bit number 0 255 Words All words used in commands data streams are signed 16 bit numbers When using CRC MSB of the data Two bytes sent with a range of 0 to 65535 the least significant byte is sent first Decimal points are assumed depending on data content Example If the data is 12345 would represent 1234 5 mm COMMUNICATIONS ERROR HANDLING This section describes the error handling of the serial communications The validity of the data in all packets transmitted to and from the sensor is checked using the last byte of the packet as a Checksum or CRC How do I process a received data packet When receiving a data packet from the sensor the host application should verify the validity of the Checksum or CRC byte Additionally the application should ensure that the command value returned matches the one sent in the request packet sent to the sensor
8. Summary Ordered by Command Number Command Ol 02 03 04 05 08 09 10 11 12 14 15 18 19 20 21 26 27 30 32 33 35 66 77 82 83 84 92 129 130 131 134 135 147 Description Laser On Laser Off Start Scan Stop Scan Set Scan Interval Set Offset Set Mode Read Low Average of Scan Read Scan Buffer Read Current Position Set Scan Filter Factors Filter Scan Buffer Set Address Read Current Sensor Setup Read Current Error Status Read Current Sensor Status Set Analog Output Factors Read Analog Output Factors Read Version Number Read Configuration Variables Set Configuration Variables Put Sensor in High Speed Mode Set To Defaults CRC CheckSum mode Write Threshold Set Maximum Laser Power Set Minimum Laser Power Set Sensors Baud Rate Get Maximum Laser Power Get Minimum Laser Power Get Threshold Start Streaming Get Baud Rate of the sensor End Streaming 39 The Pseudo Code below describes a simple application program Pseudo Code MainLoop We ll talk to any attached sensor so we broadcast to sensor address 0 We want to read the range Which is a command value of 12 and length 1 WHILE NOT Finished Until we re told to stop SendSensorCmd 0 1 12 Send the sensor our request ReadSensorRange Read what the sensor sent ENDWHILE SendSensorCmd SensorAddress CmdLength CmdByte XmitBuffer 0 STX 1 byte is always an STX char XmitBuffer 1 SensorAddress t
9. on the face of the sensor the address is set This address is then used to send commands to a specific sensor see section 2 1 Packaging Command Format command serial address command 1 byte 18 serial 8 ASCII bytes address 1 byte 1 255 Response Format if using CRC Command Command Byte 18 Success 0 Fail If using ChkSum None 30 COMMAND 26 _ Set Analog Output Factors PURPOSE Sets new values for analog output including minimum and maximum voltage minimum and maximum range offset and out of range values Command Format command Minvolt Minrange Maxvolt Maxrange offset Out of Range reserved d aoutput command 1 byte 26 minvolt 1 word 0 9 999 Volts minrange 1 word sensor range maxvolt 1 word 0 9 999 Volts maxrange 1 word sensor range offset 1 word 0 9 999 Volts out of range 1 word 0 9 999 Volts reserved 4 words 0 ResponseFormat if using CRC Command Command Byte 26 Success 0 Fail If using ChkSum None NOTE Sensor Range is dependent on the actual mode of operation Refer to section 4 3 1 SET MODE For further explanation of each parameter see chapter 7 3 2 Change Sensor Parameters Command 33 Set Configuration Variables Purpose Sets laser power and sample interval Command Format command lasercfg laserpwr lointerval hiinterval reserved Response Format command 1 byte 33 lasercfg 1 word Reserved laserpwr 1 word 0
10. s model number Factory Programmed FPGA This is the sensor s FPGA version of the sensor Factory Programmed 16 Setup Sensor Parameters DLS2000 Long Range Setup Utility lel x Serial Number D0000001 Model Number DLS2000 LR Firmware 7 10R FPGA 10 4 o abot Connect Sensor Settings View Diagnostics Welgad JosP v Min Power 252 2 Max Power Seral umber D0000001 Thershold fas Mode Numger Jos 2000 z Address fi Minimum Range 0 0 Baud 57600 Maximum Range 2000 0 Volts Min Range 0 000 0000 0mm gt 3200 0mm Volts Max Range 9 999 Set Sensor Mode Volts Outside Range 0 000 Cosine 1 0000 Offset Voltage 0 000 Range Multiplier fi 000 Set Analog Variables Laser OFF Range Offset 0 0 Set Offsets Error Checking Checksum x Set To Defaults COM Errors 0 Dropouts ho Smooth 50 Order 3 Scan Interval az Set Scan Variables 0 60 msec Set Averaging Period LASER ON j Address The sensor address may range from 1 to 255 the maximum number of sensors that can be placed on a multi drop line Each sensor must have a different address To change the address of the sensor enter new address and click on Address button NOTE When changing the address only one sensor must be communicating with the host Set Offset Defines a base offset value to add to the sensor s range readings This value is added befo
11. sample scan areas with the value preceding the dropout where the number of contiguous 32768 samples is less than the Dropout Factor If the Dropout Factor is set to 1 then no dropouts are filtered For example With the Dropout Factor 3 Buffer before 101 102 32768 32768 104 0 0 0 103 after 101 102 102 102 104 0 0 0 103 The Dropout Factor is set in the SET SCAN FILTER FACTOR command Moving Average Smooth Filter This filter takes an average of an odd number of samples on either side of the original sample and creates a new value by adding percentage of the average to a percentage of the original The filter will smooth the scan with no phase shift Two filter factors control these filters a Order Factor The number of samples to average It must be an odd number between 3 19 A value of 5 will cause two readings before and two readings after to be averaged b Smooth Factor The percentage of the average to add to the opposite percentage of the original sample is a percentage 0 to 100 e g Newsample average smooth original sample 100 smooth If smooth is 0 then no smoothing takes place 26 Command 15 PURPOSE Command Format Response Format Filter Scan Buffer Causes the contents of the scan buffer to be processed and modified using the parameters defined by the SET SCAN FILTER FACTORS command This command should only be sent after the STOP SCAN command and
12. 20 00 m Response Format if using CRC Command Command Byte 09 Success 0 Fail 29 If using ChkSum None Command 08 Set Offset Cosine Multiplier Purpose Defines a base offset value to add to the sensor s range readings This value is added before the reading is stored in the scan buffer It is assumed to be within a certain range and accuracy depending on the sensor mode Sets the cosine of the angle the sensor is mounted relative to the measurement surface For a sensor mounted with the laser beam perpendicular 90 to the surface the value of 1 000 is entered Set the multiplier of the output The range reading is multiplied by this value before output Do not use gt gt as this would result in gt gt output COMMAND FORMAT command offset cosine multiplier cosoffset2 command 1 byte 08 offset 1 word sensor range cosine 1 word 0 0000 1 0000 cosine of mounting angle multiplier 1 word 0 0000 10 000 cosoffset2 1 word reserved Response Format if using CRC Command Command Byte 08 Success 0 Fail If using ChkSum None NOTE sensor range is dependent on the actual mode of operation Refer to chapter 4 3 1 SET MODE COMMAND 18 Set Address PURPOSE Assigns a specific address to the sensor identified by the serial number This command is always sent as a broadcast to all sensors packet Address is zero Each sensor checks the serial and if it matches the serial stamped
13. DynaVision __ DLS2000 Long Range Single Point Sensor User Manual By LMI Technologies Inc 5D MACHINE VISION PROPRIETARY This document submitted in confidence contains proprietary information which shall not be reproduced or transferred to other documents or disclosed to others or used for manufacturing or any other purpose without prior written permission of LMI Technologies Inc LMI Technologies Inc 1673 Cliveden Ave Delta BC V3M 6V5 Canada Telephone 604 636 1011 Fax 604 516 8368 www mint com Trademarks and Restrictions DynaVision is a registered trademark of LMI Technologies Inc This product is designated for use solely as a component and as such it does not comply with the standards relating to laser products specified in U S FDA CFR Title 21 Part 1040 Windows 3 1 Windows 95 Windows 98 and Windows NT are registered trademarks of Microsoft Corporation No part of this publication may be copied photocopied reproduced transmitted transcribed or reduced to any electronic medium or machine readable form without prior written consent of LMI Technologies Inc Printed in Canada TABLE OF CONTENTS WELCOME TO THE DLS2000LR Long Range 0 0 0 eeeeeesceesceeecesecesecesecaecsaecseecaeecseseeeeeeeeneeeeseeseesees 5 UNPACKING E E E E E E E EE 5 SAFET Yraeta T A E E E AE E E E N R 3 Laser Safety omes rann s e e a A E vibe E A E E S 5 OEM Satety Responsibilities ensen a E stan Au bies E E A oe
14. T EEEE EEE E TEE E EEEE ES 40 TROUBLESHOOTING Sere a re E a E e e E AIEE aE AE A E E DESIRES SEESE ENS 43 CEAO AN Ei A FIBER a EE N E EEEE 45 WELCOME TO THE DLS2000LR Long Range The DLS2000LR is a member of the DynaVision family of laser based ranging sensors These sensors employ a laser and the triangulation principle to make precise measurements of range as shown in Figure 1 page 7 UNPACKING Upon receipt unpack and visually inspect the sensor The sensor is a single metal enclosure with a connector on one side and with laser and sensor viewing windows on the opposite side Ensure there is no damage to the enclosure connector or view windows The enclosed diskette contains DLS2000LR Setup Utility Demo Program DLS2000LR EXE SAFETY Laser Safety DynaVision scanners employ one or more lasers that illuminate the measurement surface This requires that specific safety precautions be taken when servicing the optimizer system The DLS2000LR is classed by the U S Food and Drug Administration FDA Code of Federal Regulations CFR 21 Part 1040 as Class IIIb This classification is clearly marked on the DLS2000LR Caution Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure WARNING The DLS2000LR is a Class IIIb type laser device Regardless of the power rating or whether or not the laser is visible the laser should not be viewed dire
15. albrat illopc response 1 byte 20 power 1 word of power up restarts reset 1 word of restarts excluding power up chkerr 1 word of checksum errors cmderr 1 word of command errors from host calbrat 1 word 5555 Hex Calibration OK illope 1 word of illegal opcodes Command 27 Read Analog Output Factors Purpose Returns various new factors for analog output Command Format command command l byte 27 36 Response Format response Minvolt Minrange Maxvolt Maxrange offset Out of Range reserved d aoutput response 1 byte 27 minvolt 1 word 0 9 999 Volts minrange 1 word sensor range maxvolt 1 word 0 9 999 Volts maxrange 1 word sensor range offset 1 word 0 9 999 Volts out of range 1 word 0 9 999 Volts reserved 4 words 0 d aoutput 1 word 0 4095 NOTE Sensor Range is dependent on the actual mode of operation Refer to Section 4 3 1 Set Mode Command 30 Read Version Number Purpose Returns internal software version number Command Format command command 1 byte 30 Response Format response version model reserved response 1 byte 30 version 1 word 0 255 model 1 word 0 255 reserved 2 words 0 Command 32 Read Configuration Variables Purpose Returns laser configuration parameters Command Format command command 1 byte 32 Response Format HIGH SPEED POLLING MODE General Description response lasercfg laserpwr interval reserved respo
16. ange WORD RcevBuffer 4 ENDIF ENDIF ELSE TimeOutError TRUE Too much time passed ENDIF 42 TROUBLESHOOTING This section will help you with any difficulties you may have in operating the DLS2000LR sensor The general rule when you encounter any problems with the sensor s performance is to make sure that you have e aclean and regulated power source e acalibrated voltage measurement device DVM Oscilloscope e acomputer optional Make sure the windows are clean and cables and connectors are checked Behavior Laser off When the laser is on a red light appears in the small circular window What to do e Check to see if the power is turned on e Check cabling and ensure power is wired correctly Behavior No data comes from the sensor s serial port What to do 1 Check cabling and ensure that power and signals are wired correctly Make sure you have an RS 232 to RS 485 converter 2 Check to see that the laser is on The DLS2000LR uses a visible red laser Check to see that the camera s field of view is not obstructed and that the window is clean Connect an LED with a 3 3K ohm resistor in series across Pins 5 Out of Range and 12 Place a target within the sensor s range The LED should be lit Block the path between the camera and the laser The LED should go out Check the analogue output with a instrument capable of measuring DC voltage from 0 to 10 e g DVM VDC 8 Move the target bac
17. aracter the host should allow a maximum of 500 ms for the complete response packet to be transmitted from the sensor What if the complete packet is not received in 500 ms The host application should abort the command and start looking for another STX character DynaVision APPLICATION PROGRAMMING INTERFACE Development of application programs for the DLS2000LR is a simple task Requirements are e asSsuitable serial interface driver e a program that reads requests and receives character data byte stream using the Packet Format described in the previous paragraphs e By writing an application in the host computer you can e request data from the sensor e read and process data values returned from the sensor 23 Commands General Overview The DLS2000LR sensor is initialized configured and controlled by commands it receives over a high speed RS 485 serial communications interface The command may be a broadcast type that will be received and acted upon by all sensors connected to that serial line or may be addressed to a specific sensor The command number will dictate the response All commands consist of a 1 byte command value 1 255 and a number of bytes or words COMMAND 01 TURN LASER ON Purpose Sets time out value for laser in 4 msec increments Host must send this command before timer expires or laser will turn off Value is always truncated to next closest multiple of 4 m sec If a zero is sent then laser is turned o
18. aria AR 6 Laser Warning Sign Formatare a e E A E E ounesent ceed steph vt sundae at RE 6 Laser Emission Warnin amp Indicators ss2e 0s 4a iekacsveceneescdentvaystves At dine E E R ose A rate reeh aedotees ees 6 Beam Attenuators acco niccescesceistes E EE A E aw eunesent sue steh vt suntaia hat aeaubensteedsaeebeeeons 6 USING THE DIES 2000 ia sisssevssctt cent anes a A e a a a a St 7 How do laser triangulation sensors work best s sesssseesseseeseessseeresreereseerreerrrnrestentesrernsertesententesrerteseetes 8 Do I need a computer to use the DLS2000ER ninsisti nienn ea a a E a aS 8 GETTING STARTED o e e A E E E I E A E iedeeeeas 10 N cessary Eq ipment essien a a E A a A E a N 10 MECHANICAL MOUNTING nensi e r E a E R A AE E E EE AER 11 Mechanical Specifications inis erini vipcseceieeestes sbscssevebsysouacseceschsbeebOuacty cae speseabuee E EEEE Er ET E EE 11 Blectrical Speciticatioms sssi seesscossgsees sapesscelieesoes sapcaeavekeass ug EE ira Toe PEE E E Eep E EEE Er T KESE 11 Laser Specifications asire rors rin eaer r aeree E EE a E a Toer EE E ear sabes seb T E EY 11 Performance Specific tionS isisisi iiieoo oner Es ES Eos rE Ere Te PEE EE E Eea o EESE ET ar ET RE rE 11 Environmental sietne e rea aa r sce e EEE E E E a Er EEE Ear EE ETETE t 12 SENSOR ORIENTATION ra aer rara eion reoite eee E O E ap EEE Ee Toe EEEE EEE EEE ar ET REER 13 APPLICATION PROGRAMMING pois ccscscocs cspesscusisasies capes acedeass egceesscesusesteg APE EE EEE
19. can interval was set to 1 000 x 60ms or 6 0 seconds the first sample would be entered after 6 00 seconds and every 6 0 seconds afterwards Command Format command command 1 byte 03 Response Format if using CRC Command Command Byte 03 Success 0 Fail If using ChkSum None NOTE The maximum number of samples that can be stored is 8192 8 Kbytes The buffer would be full in 163 84 seconds at a sample rate of 20 ms When the buffer reaches capacity samples will wrap around and begin storing new values at the beginning of the scan buffer overwriting samples Command 04 Stop Scan PURPOSE Stops sampling and preserves the contents of the Scan buffer Command Format command 25 command 1 byte 04 Response None Command 14 Set Scan Filter Factors Purpose Sets up the filtering factors for the samples in the scan buffer Command Format command dropout factor smooth factor order factor command 1 byte 14 dropout factor 1 word 1 50 smooth factor 1 word 0 100 order factor 1 word 1 3 5 7 9 11 13 15 17 19 must be odd Response Format if using CRC Command Command Byte 14 Success 0 Fail If using ChkSum None NOTE The filters are applied in the following order Ist Drop Out Filter 2nd Moving Average Filter 3rd High Low Sampling Drop Out Filter When the laser sensor returns a dropout no value a 32768 8000h sample will be put in the buffer The dropout filter replaces all 32768
20. ctly or through a mirror as it may result in severe damage to the eyes Laser Sensor gt Laser WARNING DO NOT look directly into the laser beam OEM Safety Responsibilities LMI Technologies Inc has filed a report with the US Food and Drug Administration FDA to assist OEM s in achieving certification of their own applications by referencing the report accession number The following paragraphs outline areas that are not covered by LMI Technologies Inc submission and need to be specifically addressed by the OEM Laser Warning Sign Format Laser warning signs must be located in the vicinity of the sensors such that they will be readily observed Refer to the following diagram for an example of the laser warning sign Different warning signs are required for different laser classifications These are specified in the CFR Title 21 Section 1040 An example is shown below for a Class IIb sensor INVISIBLE AND OR VISIBLE LASER RADIATION AVOID DIRECT EXPOSURE TO BEAM PEAK POWER 50mW WAVELENGTH 600 780nm CLASS IIIB LASER PRODUCT Laser Emission Warning Indicators As specified by the US Food and Drug Administration Department of Health and Human Services Code of Federal Regulations 21 Section 1040 CFR 21 1040 the controls which operate the single point sensors must incorporate a visible or audible signal when the lasers of the sensors are active Typically this consists of a warning lamp
21. d 130 Purpose Command Format Response Format Command 83 Purpose Command Format Response Format Command 129 Purpose Command Format Response Format Sets the minimum laser power This is actually the OFF time of the laser power PWM so higher the value lower the laser power command Min_Power Command 1 Byte 84 Min_Power 1 Byte 1 254 if using CRC Command Command Byte 84 Success 0 Fail If using ChkSum None Get Minimum Laser Power Returns the minimum laser power setting Command Command 1 Byte 130 Command Min Power Command 1 Byte 130 Min Power 1 Byte Write Maximum Laser Power Sets the maximum laser power This is actually the OFF time of the laser power PWM so lower the value higher the laser power command Max_Power Command 1 Byte 83 Max_Power 1 Byte 1 254 if using CRC Command Command Byte 83 Success 0 Fail If using ChkSum None Get Maximum Laser Power Returns the maximum laser power setting Command Command 1 Byte 129 Command Max Power Command 1 Byte 129 Max_Power 1 Byte 33 Command 82 Purpose Command Format Response Format Write Threshold This refers to the A to D converted threshold for detecting the laser spot and filtering it lower the value the more sensitive camera becomes command Threshold Command 1 Byte 82 Threshold 1 Byte 0 255 if using CRC Command Command B
22. duplex meaning four wires are required to complete the hardware connection as follows Tx of all the DLS2000LR sensors are connected to the Rx Tx of all the DLS2000LR sensors are connected to the Rx Rx of all the DLS2000LR sensors are connected to the Tx Rx of all the DLS2000LR sensors are connected to the Tx A 1200 termination resistor must be connected across the Tx and Tx and the Rx and Rx at the end farthest away from the host computer 14 A utility is supplied DLS2000LR EXE from which you can set the address of each DLS2000LR Remember that this program only works in Microsoft Windows environments Cable Power Requirements The cable must be capable of handling 15 to 30VDC at 500 mA current The voltage must not drop below 14 5 VDC at the sensor Maintenance Since the DynaVision scanner heads operate optically the primary maintenance procedure is keeping the heads and especially optical surfaces clean of sawdust oil and pitch Do not immerse the unit in fluids and do not use a high pressure spray to clean The sensor contains optical and electronic components and under no circumstances should the enclosure be opened Mechanical The sensor surface attachment should be periodically checked once per month or as required to ensure that mechanical mounting is secure CLEANING The glass surfaces must be kept clean from dirt and grease build up It is recommended that the face of the sensor be ins
23. e sensitive to background ambient light Recommended value for threshold is 48 Sets the sensor s range at which the analog output is at the volt min For any range less than this value sensor will output the analog reading of volt OutOfRange and digital reading of 65535 FFFFh Sets the sensor s range at which the analog output is at the volt at max For any range greater than this value sensor will output the analog reading of volt OutOfRange and digital reading of 65535 FFFFh Analog output when the object sensed is at the nearest point Min Range of the sensor s range Analog output when the object sensed is at the furthest point Max Range of the sensor s range Voltage output when the object sensed is outside the defined min range and max range This interval is the rate which the sensor updates the readings for the output taking readings at its sample rate and averaging them For example a value of 150 00 means that 200 readings are taken and averaged before the output will be updated To change this value enter the new value in the edit box and click on the Set button Sets all sensor parameters to factory defaults 19 View Ranges Spot Info Allows the user to view range spot information DLS2000 Long Range Setup Utility D0000001 DLS2000 LR About Press START to continuously display spot Information Press STOP to end continuous display
24. erfaced to a personal computer through the serial communication port 1 Place the sensor onto a table or flat surface Be sure that the pathway between target and the laser window round hole and the camera elongated window is not obstructed 2 Connect the DLS2000LR in one of the following ways a Stand alone device Connect the enclosed cable to a suitable power supply a voltage or current measurement device e g a DVM With the power supply OFF connect the cable to the DLS2000LR If you are using the analogue output only turn on your voltage measurement device Go to step 3 OR b Interfaced to a computer Connect the enclosed cable to e a suitable power supply a voltage or current measurement device e g a DVM optional the serial port of a computer With the power supply OFF connect the cable to the DLS2000LR Start the DLS2000LR EXE application on the computer Set the software to use the correct serial port settings This is located under the connections tab Go to step 3 The DLS2000LR can be connected to both a computer and a voltage current measuring device at the same time 3 Position a suitable target e g a cardboard box or wood block within the measurement Range of the DLS2000LR see Figure 2 4 Turn on the power supply to the DLS2000LR The DLS2000LR does not have a power switch so turning on the power supply will activate the DLS2000LR You should now see a red laser spot on the target and a display o
25. f the range readings on the computer screen and or a voltage current reading on the voltage current measurement device 10 MECHANICAL MOUNTING The sensor enclosure contains a mounting plate with three pre drilled mounting holes see Figure 3 The accuracy of the sensor is dependent on a secure mechanical mounting Figure 3 Calibration of the DLS2000LR is relative to the reference face of the sensor The minimum distance the target can be from the reference face of the sensor is the standoff distance see Figure 2 Any movement or vibration of the sensor relative to the object being measured will result in measurement errors The surface the sensor is mounted to must be flat within 0 030 0 76mm between the three mounting points Mechanical Specifications Dimensions 410 4mm 16 15 x 117 48mm 4 62 x 38 4mm 1 51 Electrical Specifications Power Supply Voltage 15 VDC 30 VDC 250mA Analog Output 0 VDC 10 VDC 4mA 20mA Maximum Analog Output Load 550Q using current output 2000Q using voltage output Laser Specifications Visible Laser RED Wave Length 690 nm Peak Power 50 mW Performance Specifications Standoff 500mm 19 67 Range 3000mm 118 117 Resolution Digital 0 250mm 0 010 Resolution Analog 0 762mm 0 030 Scan Rate 1663Hz 11 Connector Pin Out The following diagram shows the connector pin out on the sensor as it is viewed facing the sensor The table detai
26. ge The distance from the reference face of the sensor to the sensor s first measurement is the Standoff The sensor cannot make any measurements before the Standoff If a target is placed within this area the analog output would read zero voltage output 4mA current output and the digital output will return a 32768 indicates out of range The distance from the sensor s standoff to the sensor s maximum measurement point for which it has been calibrated is the Range In between these two points the sensor will return a valid reading indicating how far the measurement surface is away from the standoff What is the maximum distance an object can be placed from the sensor s reference point The Standoff distance plus the Range distance is the maximum distance an object can be placed away from the face of the sensor standoff 19 69 S500mm range 118 11 3000mm 500mm 3000mm Standoff Sensor Range Figure 2 Standoff distance 500mm Range distance 3000 Object s Maximum Distance 3500mm If the object distance from the face of the sensor is greater than the Object s Maximum Distance the sensors analog output will read zero volts and the digital output will return a 32768 indicating out of range Object Distance gt Standoff Range gt Out of Range How do laser triangulation sensors work best Laser triangulation sensors work best when the measurement surface is a diffuse reflector such as the surface of a piece
27. he Sensor Address XmitBuffer 2 CmdLength XmitBuffer 3 CmdByte If using CheckSum or error checking then Checksum STX SensorAddress CmdLength CmdByte 1 XmitBuffer 4 Checksum put it at the end else for i 0 i lt length xmitBuffer i ch XmitBuffer i for shifter 0x80 shifter shifter gt gt 1 flag CRC amp 0x8000 CRC lt lt 1 CRC l shifter amp ch 1 0 if flag CRC 0x1021 XmitBuffer 4 CRC MSB Xmitbuffer 5 CRC LSB Write XmitBuffer COMPORT StartTimeOutTimer ReadSensorRange Ichecksum MsgReceivedFlag FALSE Initialize status flags FirstB yteFlag TRUE WHILE NOT TimeOut AND MsgReceivedFlag FALSE IF ByteRcvd Got a byte IF FirstB yteFlag TRUE Yes Is it the 1 one IF ByteIn STX Yes Is it an STX BufferPtr 0 Yes Start storing the packet FirstB yteFlag FALSE 40 RcevBuffer BufferPtr ByteIn BufferPtr BufferPtr 1 ENDIF ELSE I We ve already got an STX so RcvBuffer BufferPtr ByteIn add this byte to the queue IF BufferPtr 2 Is this the Length byte RevLength ByteIn 3 Calc how many bytes we ll get BufferPtr BufferPtr 1 Update our pointer ENDIF ENDIF ICRC ReadSensorRange MsgReceivedFlag XmitBuffer 4 CRC FALSE WHILE NOT TimeOut AND MsgReceivedFlag lt TRUE IF ByteRcvd IF FirstByteFlag TRUE IF ByteIn STX Firt
28. k and forth Observe the analogue output It should change as the target is moved If the voltage changes it is likely that your serial port configuration and or cabling is incorrect If the voltage output does NOT change check your wiring again TON ON Be Behavior No data comes from sensor s analogue output What to do 43 1 Check cabling and ensure that power and signals are wired correctly Make sure you have an RS 232 to RS 485 converter 2 Check to see that the laser is on The DLS2000LR uses a visible red laser 3 Check to see that the camera s field of view is not obstructed and that the window is clean 4 Connect an LED with a 3 3K ohm resistor in series across Pins 5 Out of Range and 12 5 Place a target within the sensor s range The LED should be lit 6 Block the path between the camera and the laser The LED should go out 7 Connect the serial port of the sensor to a host computer using an RS 232 to RS 485 converter 8 Move the target back and forth Observe the displayed range value on your computer It should change as the target is moved If the values change and there is still no analogue output the analogue signals are probably incorrectly wired Behavior In a multi drop configuration one or more sensors do not respond and do not provide data to the serial interface What to do 1 Connect the offending sensor by itself see previous to see if it operates correctly in a non multi drop envi
29. ls pin assignments for the Sensor Connector Pin Signal 1 Rx Receive 2 Rx Receive l 3 Tx Transmit 4 4 Tx Transmit 5 Out Rng 6 Analog 1 Out 0 10V 7 Analog 1 Common 8 Analog 2 Common Front View of Connector of Sensor Cable Pin Out See pin out wire color supplied with the cable Pin out for the DLS2000LR Pin Signal 1 Rx 2 Rx X 3 Tx Front View of connector 4 TX 5 Out RNG 10VDC 7 Common 8 Commons g 4 20 10 Syne 11 GND 12 Power X Indicates a twisted pair Environmental Ambient Temperature Operating MIN 0 C 62 F MAX 50 C 122 F Storage MIN 30 C 22 F MAX 70 C 158 F Relative Humidity 95 Maximum Non Condensing at 40 C 104 F Housing Gasket aluminum enclosure 12 SENSOR ORIENTATION Refer to the following diagram locating the light beam and viewing angles The light beam is projected perpendicular to the face of the sensor Incorrect Correct If the surface of the material being measured is non reflective e g wood non shiny metal the sensor should be mounted so the beam is projected perpendicular to the surface VLLLLLELL LOLS Non reflective materials Semi reflective materials If the surface of the material being measured is semi reflective e g glossy painted surface the sensor should be rotated counter clockwise to reduce the direct reflection of the beam back to the sensor All ra
30. n with no time out If a 1 is sent then laser comes on at power up and there is no timeout This is the factory setting HOST COMMAND SIZE 3 BYTES COMMAND Ol DATA 2 BYTES LASER TIME OUT VALUE DATA TYPE 16 BIT WORD Range 0 32000 x4 msec RESULT Turns Laser On with optional time out Response Format If using CRC Command Command Byte O1 Success 0 Fail If using ChkSum None COMMAND 02 TURN LASER OFF HOST COMMAND SIZE 1 BYTE COMMAND 02 DATA None RESULT Turns laser off Response Format If using CRC Command Command Byte 02 Success 0 Fail If using ChkSum None 24 Scanning Commands Command 05 Set Scan Interval Purpose Sets the rate the sensor fills the internal sample buffer Scan interval indicates the number of internal clock ticks 60 ms which elapse between updates To store samples in the scan buffer use the commands START SCAN and STOP SCAN see following command descriptions Command Format command scan interval Command 1 byte 05 scan interval 1 word 1 32000 x 60ms Response Format if using CRC Command Command Byte 05 Success 0 Fail If using ChkSum None Command 03 Start Scan Purpose Clears the scan buffer and begins sampling at the rate specified by Scan Interval adding each sample in the scan buffer Upon receipt of the START Scan command the sensor will begin sampling after the time set in the SET SCAN INTERVAL command For example if the s
31. ng specified filter factors and display high low and average sample reading from the scan buffer Read Scan Buffer Reads the scan buffer and store it in a file specified by user 18 Max Laser Power Min Laser Power Threshold Min Range Max Range Volt Min Volt Max Volt OutR Set Period Set to Defaults During automatic laser power adjustment this limits the maximum power The power can be adjusted from 1 254 the lower the value the higher the laser power Together with Min Laser Power you can setup the Laser Power range to ensure the optimal sensor s performance To change the maximum laser power enter the new power setting and click on Max Laser Power The recommended value for Max Laser Power is 2 During automatic laser power adjustment this limits the minimum power The power can be adjusted from 1 254 the higher the value the lower the laser power Together with Max Laser Power you can setup the Laser Power range to ensure the optimal sensor s performance To change the minimum laser power enter the new power setting and click on Min Laser Power The recommended Factory Defaults value for Min Laser Power is 240 This refers to the A to D converted threshold for detecting the laser spot and filtering it through the background light The threshold can be adjusted from 0 255 The lower the value the more sensitive the camera becomes to laser light but also becomes mor
32. nge readings are perpendicular to the face of the sensor APPLICATION PROGRAMMING General Overview All communication between the host computer and the sensor is via an RS 485 serial interface All commands are initiated from the host computer to the sensor with the sensor responding to the commands 13 Communications Specifications The DLS2000LR is designed to use the RS 422 485 standard for its serial communication This is a differential driver receiver pair It is capable of transmitting up to 4000 feet The serial ports of most personal computers are based on the two wire RS 232 standard To use a personal computer as the host for a multi drop configuration you will need an RS 232 to RS 485 converter box The RS 485 option allows the sensor to be used in multi drop configurations This means that up to 32 units can be connected to the same serial line Each device must have a different address so that you are able to distinguish which unit you are talking to A standard utility DLS2000LR exe is supplied to allow you to set the address of each DLS2000LR unit Interconnect Specification Transmit and Receive lines are connected to the serial I O port of a host computer This serial I O port must be configured as follows e Asynchronous 57600 baud 8 Data Bits One Stop Bit No Parity Multi Drop Configurations DLS2000LR sensors can be wired in a multi drop configuration The serial communication must be wired as full
33. not while the buffer is still being filled command command 1 byte 15 if using CRC Command Command Byte 15 Success 0 Fail If using ChkSum None High Low order Sampling After applying the Dropout and Moving Average Filters the scan buffer is processed to find the location and value of the Highest sample Lowest sample and the Average of all samples Command 10 Read High Low Average of Scan Purpose Obtains the High Low and Average values of the readings contained in the scan buffer Command Format command command 1 byte 10 Response Format response high value high scan low value low scan average response 1 byte 10 high value 1 word sensor range high scan 1 word 1 8192 low value 1 word sensor range low scan 1 word 1 8192 average 1 word sensor range NOTE Sensor Range is dependent on the actual mode of operation Refer to chapter 4 3 1 SET MODE 27 Command 11 Read Scan Buffer PURPOSE Obtains the contents of a specified portion or the entire scan buffer Between and 66 packets is sent containing scan data Each packet contains up to 126 samples Command Format command start scan index scans to read command 1 byte 11 start scan index 1 word 1 8192 scans to read 1 word 1 8192 Response Format response sequence scan data 4 254 bytes response 1 byte 11 sequence 1 byte 66 1 Highest sequence number maximum 66 to 1
34. nse 1 byte 32 lasercfg 1 word ignore laserpwr 1 word 0 31744 period 2 words low word high word reserved 1 word 0 NOTE For further explanation of each parameter see chapter 7 3 2 Change Sensor Parameters The DLS2000LR sensor is capable of a special mode which utilizes a high speed transfer protocol enabling range measurement in real time When the high speed polling command is issued the sensor changes data transfer protocols The protocol is a simple one The sensor expects one of two possible ASCII characters 37 P 50h Software encoder pulse Each time the sensor receives command 50h it responds by sending a range reading 1 word LSB MSB back The sensor will ignore all other commands until it receives an F 46h F 46h Finish high speed poll mode The sensor changes back to its normal data transfer protocol Using the high speed polling mode the data transfer can maintain the highest sample rate possible 667 Hz if the baud rate has been changed to 57600 baud Command 35 Put Sensor In High Speed Mode PURPOSE Puts the sensor in high speed polling mode and changes the Command Response Format data transfer protocol command command 1 byte 35 if using CRC Command Command Byte 35 Success 0 Fail If using ChkSum None NOTE The sensor will stay in the high speed polling mode even if the sensor gets powered down and up again unless the F character has been sent 38 4 6 Command
35. o sipdbade TENE Tare ETES EEES 13 General OVERVIEW iss ieser ara e EE o aee EEE O E anes EEr Ra TE EEE Ea EE Ta ET Ri 13 Communications Specifications ssviscccs issue vepdssceissestes vapusseseseyss vessecsssnsbeabOenessessisesnesucesbpesscessbeatescoeesesentetse 14 Interconnect Specification sissen einari esere eon E seus capceacnsbaabes EE EE EEEE E r ET EE aS 14 Multi Dr p Configurations ss cs3 csecssess isons cceescessieesees sapessusesea oes capeesensbeasoes E E EEr EEEE ESEE E rE SE 14 Maintenance iina n a Nee tiie ied eee A eae O RAA A ase tH eee E R hte needing 15 Using DLS2000LR Setup Utility renne rneer ere Seen Eere VEEE a een NEER EE STS raS 16 Connecting to the Sensonic an avee ee AEREE AE ESEE I ues EREE I AE KEKEE IK or KIERES EE RSN 16 Setup Sensor Parameters oeeo oerna oee E chinese cases a baste bie EE E ERE E OKEERE E ITENSER 17 Order Factor seee fel hea a E R Bee ti ee Re AN AE ONERE Ree seh ee 18 Smooth Factors sitsckin nots a A eek ine nas 18 View Range s Spot NfO sik else aree e IRRE E ESEE S ae IERE EE le OERA tele neste eee 20 COMMUNICATIONS PROTOCOL esee rran E o rne EA Se E VA VEEE a een TEER E SAEST 21 General Packet Protocolisicctiscncth cede ccok en aR r EEE O o EREE I AE EKE I ES esto eee 21 NUMERIC FORMA N a asain eh eed BA aie ee dine AE NEETA 22 COMMUNICATIONS ERROR HANDLING 0000 cecesecesecesecenecaeecaeecaeseaeseaeeseesacenseeaeesaeenaessaeeaes 22 How do I process a received data packet cccessesseece
36. of paper wood or non shiny metal and plastic Do I need a computer to use the DLS2000LR No the DLS2000LR can be used without a computer control system using the voltage or current and or with a computer using RS 485 serial communication Without a computer The DLS2000LR can be employed as an analogue sensor and does not require connection to an external computer Connect the cable to e asuitable power supply see Connections a voltage measurement device or e acurrent measurement device With a computer The DLS2000LR can be used in a computer based data acquisition or control system Commands requesting data are sent to the sensor and the sensor responds by providing range values Commands and data are exchanged with the DLS2000LR using a simple serial protocol see Applications Programming To operate the sensor e Connect the cable see Multi Drop Configurations e Run the demonstration application DLS2000LR EXE enclosed diskette This application will display the range readings from the DLS2000LR in real time see Getting Started GETTING STARTED Necessary Equipment You will need e a DC power supply 1SVDC 30VDC 250mA an instrument capable of measuring 0 10 volts DC and or 4 20mA a flat diffuse surface Windows 95 98 or Windows NT if you are using the sensor with a computer an RS 232 to RS 485 converter Operating your DLS2000LR sensor is quite simple You can use it either as a stand alone device or int
37. pected and cleaned with isopropyl alcohol on a regular basis Do Not use commercial glass cleaners many have chemicals that leave residue on the glass which can affect optical performance AIR PURGE SYSTEMS In very dirty environments where free floating particles are present it is advised that a positive air pressure system be installed such as an air knife or blower system These systems blow air over the laser and sensor glass surfaces to prevent dust particles from settling It is important that the air be clean and free from oil and water The air purge system could be continuous or pulsed air operated from a timer 15 Using DLS2000LR Setup Utility Connecting to the Sensor DLS2000 Long Range Setup Utility Select the proper COM Port Baud Rate 57600 Factory Default Rate the unit address and click on Connect button If the unit address is not known check the Use Global Address window and click on Connect button NOTE Do not use Global Addressing in multi drop configuration All sensors have default address of 1 In case of multi drop configuration ensure that each sensor has been assigned a unique address before being placed on single communication line Serial The number shown here is the sensor s serial number which is labeled on the front of the sensor enclosure Factory Programmed Firmware This is the firmware version of the sensor Factory Programmed Model This is the sensor
38. re the reading is stored in the scan buffer It is assumed to be within a certain range and accuracy depending on the sensor mode Sets the cosine of the angle the sensor is mounted relative to the measurement surface For a sensor mounted with the laser beam perpendicular 90 to the surface the value of 1 000 is entered Baud Rate This is the sensor s Baud Rate that it uses to communicate to the Host To change Baud Rate select the Baud Rate from the list and click on Baud Rate button The Baud rate is preset at the factory to 57600 Baud Error Checking Error checking method used by sensor to communicate with the Host Checksum Default or CRC 17 To change the method select the one from the list and click on Error Checking button Set Scan Variables Filter Parameters Dropout Smooth and Order are used to filter the data in the scan buffer Reasonable values for SMOOTH factor ORDER factor and DROPOUT count are 50 0 3 10 respectively Dropout Factor To change the dropout factor edit the value and Click on Set This specifies the number of bad readings to fill in with the last good reading if the sensor does not obtain valid readings Dropout filter is applied to the scan buffer before the moving average filter Results are as follows Dropout Count Result 1 No dropouts removed 10 Any bad laser reading lt 10 samples wide are filled in with previous valid data
39. rial 8 ASCII bytes address 1 byte 1 255 mode 1 byte 0 3 aperture 1 word threshold 1 byte 1 255 ignore scantime 1 word 1 32000 x 0 6 ms dropout 1 word 1 50 smooth 1 word 0 100 order 1 word 1 19 odd offset 1 word sensor range cosine 1 word 0 0 1 0000 cosoffl 1 word Reserved cosoff2 1 word Reserved laser 1 word 0 laser off 1 laser on NOTE Sensor Range is dependent on the actual mode of operation Refer to section 4 3 1 SET MODE 35 COMMAND 21 Read Current Sensor Status Purpose Returns a variety of values relating to current sensor status Command Format command command l byte 21 Response Format sepix sumpix numpix subpix current scancnt scanflg response 1 byte 21 basepix 1 word 0 2047 base pixel address ignore sumpix 1 word sum of pixels ignore numpix 1 word width of laser spot pixels ignore subpix 1 word sub pixel value ignore current 1 word sensor range position scancnt 1 word 1 8192 number of samples scanflg 1 word 0 not scanning 1 scanning NOTE sensor range is dependent on the actual mode of operation Refer to chapter 4 3 1 SET MODE Also see section 7 3 2 5 for description of base pix ext Command 20 Read Current Error Status Propose Returns various error and statistic counts Command Format command Command l byte 20 Response Format response power reset chkerr cmderr c
40. ronment 2 If the sensor behaves correctly in 1 the problem may be that the sensor is incorrectly addressed when used in the multi drop configuration a Be sure you are using an RS 232 to RS 485 converter b Check that the wiring of the multi drop configuration is correct See Multi Drop Configurations c Check that the sensor addresses you are sending are correct Use the program DLS2000 EXE to reset any invalid sensor addresses 44 GETTING FURTHER HELP If you wish further help on the DLS2000LR contact your distributor For more information on Safety and Laser classifications contact Center for Devices and Radiological Health FDA Office of Compliance HFZ 305 Attn Electronic Product Reports 2098 Gaither Road Rockville Maryland 20850 List of Agents Canada and the United States Call our offices at 1 604 636 1011 for the agent nearest you or visit our web site at www mint com EUROPE LMI Selcom Inc Sweden phone 46 31 336 25 10 Box 250 S 433 25 fax 46 31 44 61 79 Ogardesvagen 19A Partille Sweden 45
41. sByteFlag TRUE BufferPtr 0 FirstB yteFlag FALSE RevBuffer BufferPtr ByteIn BufferPtr BufferPtr 1 ELSE RevBuffer BufferPtr ByteIn IF BufferPtr 2 RcvLength ByteIn 3 BufferPtr BufferPtr 1 IF BufferPtr gt RcvLength Got the Full Message StopTimeOutTimer Yes Stop the Timeout Timer MsgReceivedFlag TRUE ENDWHILE IF MsgReceivedFlag TRUE RevAddr RevBuffer 1 RcvCmd RevBuffer 3 RevLen length RcvBuffer 2 RcvCRC Chksum Last one or two bytes of RevBuffer Calculate CRC or Checksum IF RcvCRC CheckSum lt gt CalcCRC CheckSum CRCError TRUE ELSE 41 IF RevCmd lt gt CmdByte CommandError TRUE ELSE SensorRange WORD RcvBuffer 4 ELSE TimeOutError TRUE IF BufferPtr gt RcvLength Got the Full Message i StopTimeOutTimer Yes Stop the Timeout Timer MsgReceivedFlag TRUE I Set the status flag We re done ENDIF ENDWHILE IF MsgReceivedFlag TRUE Packet received or Timeout RcvChecksum 0 Packet received Then validate it RevAddr RevBuffer 1 RcvCmd RevBuffer 3 FOR loopctr 0 TO RcevLength Calculate the checksum RevChecksum RevChecksum RevBuffer loopctr IF RcvChecksum lt gt 0 Is it valid ChecksumError TRUE No Indicate the error ELSE IF RcvCmd lt gt CmdByte Yes Does the response match CommandError TRUE No Indicate the error ELSE Otherwise get the range value SensorR
42. seceesseceseeeseeceeeeeeneeceeeeeneeceeeeeeneecereseaeeceeeseneeeeee 22 What is the structure of a command packet 00 eescecesceesceceseeeeeeceeeeeneeceeeeeseeceseeeeaeeceeeeeaeeceeeeeeneeeeee 22 What if the sensor detects aN CLrOr ooo eceeceeeceseceseceseceecaeecaeeeseeeaeseaeeseceaecesecsaecsaecnaecsaecaeeeaeeeaesentees 22 Re Synchronizin g TIMMINS 3220s seecscisatecses schenscoustovies suvvenes E EEr EESE S EEES TEKEE VE SESEK ESEESE EEEE SEESE EESE 22 Start OF Transmission O n See Ce Re ht 22 How do I make sure the host and sensor are synchronized ccceesceencecsseceeececeseceeeeecsaeceeneeenaeeesees 22 A O oi 5 oct SE da nc dathons snack ehadiege chain descel E E Ae Riel ae anak 23 What if transmission time exceeds 50 MS oo ee ee ee eesecseceeeceecseeeseeeeeeeeeeseeesecsecsaecsaecsaecaaeeaeseaeseneees 23 Ja Co E tan cbs cendotsdesndelesp isch ues aah asda Gabbe eee Gt oth ae anette wo Ganado 23 What if the complete packet is not received in 500 M8 oo ee eee eeeeeeseesecesecesecaecsuecaeecaeseneeeaeees 23 DynaVision APPLICATION PROGRAMMING INTERFACE eccecceeccesceseceseceseceseceeeaeeeneeeeeees 23 Commands eiiie an hash ena Shi codecs cole a solace ate coli EE EOE hea ees haath EE EEE A RS 24 SET MODE OPERATION COMMANDS 00 0 ceceeceeccesecesecesecesecnsecoaecneecaeeeaeseaeesaseeeesessseeaeesaessaeonaesnaesaes 29 HIGH SPEED POLLING MODE aeron apeten euesan e erae a EA A E E RESTEREN SSES EENE 37 AEE LOA CODE AE EEE EA
43. yte 82 Success 0 Fail If using ChkSum None Command 131 _ Get Threshold Purpose Returns the threshold value Command Format Command Command 1 Byte 131 Response Format Command Threshold Command 1 Byte 131 Threshold 1 Byte Command 134 Start Streaming Purpose Puts the senor to streaming data mode sensor is continuously sending out range values until host sends any character byte to the sensor to end the steaming mode Sensor start to send out 16 bit data of the following format MSB and LSB Command Format command Command 1 Byte 134 Command 147 __ End Streaming Purpose Command Format Stops the sensor from streaming data mode command Command 1 Byte 147 34 Read Current Values Commands Command 12 Read Current Position Purpose Command Format Response Format Returns the current reading in standard or metric depending on the sensor mode with offset added command command 1 byte 12 response position response 1 byte 12 position 1 word sensor range NOTE Sensor Range is dependent on the actual mode of operation Refer to chapter 4 3 1 SET MODE Command 19 Read Current Sensor Setup Purpose Returns Various setup parameters Command Format command command l byte 19 Response Format response serial address mode aperture thresh old scantime dropout smooth order offset cosine cosoff1 cosoff2 la ser response 1 byte 19 se
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