11
2-4 Command Details
90H Receive the measured distance
Receive the measured distance for specied beams.
Command format
z
Send: 10 bytes
Command Empty
Scanner Head
Number
Measurement
Dataset Number
Start Beam
Number of
Received Beams
Skip Beams
1 byte 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes
Type Details
Data
Length Type Range
Command Specify the command to receive the measured distance. 1 byte Unsigned integer 90H
Empty Not used. Set to 0. 1 byte Unsigned integer 0
Scanner Head Number
Specify the scanner head to do the measuring. The order of proximity to the display
unit, they are Scanner Head 1, Scanner Head 2 and Scanner Head 3.
1 byte Unsigned integer 1 to 3
Measurement
Dataset Number
A number that the customer can set optionally to identify the command and the reply.
Any number can be specied between 0 and 255. Returns the number in the sent
data in the received data. If not used, set it to 0.
1 byte Unsigned integer 0 to 255
Start Beam
*
Specify which beam to start receiving the data from. 2 bytes Unsigned integer 0 to 952
Number of
Received Beams
*
Specify the number of beams to receive the data from. 2 bytes Unsigned integer 0 to 953
Skip Beams
*
Specify how many beam intervals should be between beam readings. 2 bytes Unsigned integer 0 to 951
* If the Start Beam, Number of Received Beams, and Skip Beams are all set to 0, all beams are receiveed.
z
Reply: 16 to 1920 bytes
Command Error Data
1 byte 1 byte 14 to 1918 bytes
Scanner Head
Number
Measurement
Dataset Number
Measurement
Status
Operation
Mode
Number of
Scans
Empty Start Beam
Number of
Received Beams
Skip Beams Measurement Data
1 byte 1 byte 1 byte 1 byte 1 byte 1 byte 2 bytes 2 bytes 2 bytes
2 bytes x number of received
beams (1 to 953)
Type Details
Data
Length Type Range
Command Returns the command to receive the measured distance. 1 byte Unsigned integer 90H
Error
Returns the error information.
00H: Normal
02H: Invalid scanner head number
03H: Invalid parameters
04H: Insufcient command length
FFH: Command analysis error
1 byte Unsigned integer
00H to
FFH
Scanner Head Number
Returns the number of the scanner head used for measurement. 1 byte Unsigned integer 1 to 3
Measurement
Dataset Number
A number that the customer can set optionally to identify the command and the reply.
Any number can be specied between 0 and 255. The number that is specied in the
sent data is also returned in the received data.
1 byte Unsigned integer 0 to 255
Measurement
Status
Returns whether the measurement is normal or not.
00H: Measurement error
01H: Normal
1 byte Unsigned integer 0 to 1
Operating Mode
Returns the operating mode settings.
00H: High Speed mode
01H: Standard mode
1 byte Unsigned integer 0 to 1
Number of Scans
Every scan the SZ-V performed is counted. The count returns to 0 after ever 255. This
setting can be used to identify which scan the data is from. Returns to 0 after 255.
1 byte Unsigned integer 0 to 255
Empty Reserved 1 byte Unsigned integer 00H
Start Beam Returns the start beam specied during transmission. 2 bytes Unsigned integer 0 to 952
Number of
Received Beams
Returns the number of received beams specied during transmission. * 2 bytes Unsigned integer 0 to 953
Skip Beams Returns the skip beams specied during transmission. 2 bytes Unsigned integer 0 to 951
Measurement Data
Returns the measured distance and whether there is a highly reective object at
each beam.
First 15-bits: Indicates the measured distance in increments of 2 mm.
Last 1-bit: Indicates whether there is a highly reective object in the beam path.
Example: Measurement data 0A97H
0000 1010 1001 0111
Last 1-bit is 1: There is a highly reective object present
Top 15-bits: For the bottom bit, calculate the distance as 0.0A96H = 2710. Simply put,
the measured distance is 2,710 mm.
2 bytes Bit string
0000H to
FFFFH
* If the “Start Beam”, “Number of Received Beams”, and “Skip Beams” are all set to 0 in the time of sending, the count returns 953 that is equal to
maximum beams.