scip_mode_en
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Setting of operation mode
Explains the commands user to change the operation of URG sensor, like laser turn on/off , change in baudrate etc.
There are 3 types of operation modes in URG. They are "SCIP 1.x", "SCIP 2.x", "time stamp mode".
Operation mode of URG
The following commands are used to change the SCIP modes, change baudrate, laser on/off, reset the status and to change the rotation speed of motor.
"SCIP2.0"
Change from SCIP 1.x protocol to SCIP 2.x protocol.
All other URG's except classic-URG operates in SCIP2.x, therefore this command works only for Classic-URG.
"TM0", "TM1", "TM2"
Changes the mode of time stamp mode.
In time stamp mode, as a response to TM1 command, sensor returns the present time stamp. Using that time stamp synchronization between the PC and URG can be done.
"TM0" ... Instructs the URG to change to time stamp mode
"TM1" ... Returns the URG's time stamp
"TM2" ... Instructs the URG to change to normal mode
"SS"
Changes the communication baudrate
Actual baudrate changes occur only after the completion of reply to "SS" command.
URG can be set for the following baudrates. (but PC cannot be set for more than 115200).
750000 (bps)
500000 (bps)
250000 (bps)
115200 (bps)
38400 (bps)
19200 (bps)
"BM"
-Switch on the laser.
In case of sending "GD", "GS" commands, it is necessary to send this command to switch on the laser before sending "GD", "GS" commands. (Where as, it is not necessary to send this command before sending "MD", "MS" commands, because "MD", "MS" commands automatically switch on the laser).
"QT"
Switch off the laser It Switch off the laser.At the same time stops distance measurement of "MD", "MS" commands.
"RS"
Resets the status information
The information that are reset by this command are rotation speed of the motor, Luminescence of laser and baudrate.
Luminescence of laser(Suspends measuring distance data)
Changes to default baudrate(Normally 19200).
Sets the rotation speed of the motor to its 100% normal speed. How ever, this command does not change from time stamp mode to normal mode. Only "TM2" command can change from time stamp mode to normal mode.
"CR"
Changes the rotation speed of the motor
Rotation speed of the motor can be set to 90-100% of the normal speed of the motor.
This function is introduced to avoid the measurement error when using multiple URG.
To avoid the error when using multiple URG.
In actual use, in case of assembling multiple URG'S, for authenticity reasons it is better to change the height of URG's or bend the URG's in few degrees and make sure that measurement laser of different URG's will not be in the same point.