scip_status_en
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Obtain status information
Explains the commands used to get version information, maximum measurable distance, present laser condition etc of the URG.
"VV"
Obtain version information.
Below is the example of the reply obtain from the URG in response to "VV" command.
VV 00P VEND:Hokuyo Automatic Co.,Ltd.;[ PROD:SOKUIKI Sensor URG-04LX;[ FIRM:3.1.00(18/Jan./2007);` PROT:SCIP 2.0;N SERI:H0614967;V
A character after semicolon(;) is a check sum character of each line.
Only in case of VV command,the semicolon is not included in checksum calculation.
Meaning of each sentence is as below.
VEND ... Vendor information
PROD ... Product information
FIRM ... Firmware version
PROT ... Protocol version
SERI ... Sensor's unique serial number
"PP"
To obtain measurement parameters.
Below is the example of the reply obtain from the Classic-URG in response to "PP" command.
PP 00P MODL:URG-04LX(Hokuyo Automatic Co.,Ltd.);N DMIN:20;4 DMAX:5600;_ ARES:1024;\ AMIN:44;7 AMAX:725;o AFRT:384;6 SCAN:600;e
Similar to "VV" command, a character after semicolon(;) is a check sum character of each line.
Meaning of each sentence is as below.
MODL ... Model information of the sensor.
DMIN ... Minimum measurable distance (mm)
DMAX ... Maximum measurable distance (mm)
ARES ... Angular resolution(Number of splits in 360 degree)
AMIN ... First Step of the Measurement Range
AMAX ... Last Step of the Measurement Range
AFRT ... Step number on the sensor's front axis
SCAN ... Standard angular velocity
"II"
To obtain status information.
Below is the example of the reply obtain from the Classic-URG in response to "II" command.
00P MODL:URG-04LX(Hokuyo Automatic Co.,Ltd.);N LASR:OFF;7 SCSP:Initial(600[rpm])<-Default setting by user;A MESM:IDLE;: SBPS:19200[bps]<-Default setting by user;A TIME:081615;N STAT:Sensor works well.;8
Similar to "VV" command, a character after semicolon(;) is a check sum character of each line.
Meaning of each sentence is as below.
MODL ... Model information of the sensor.
LASR ... Laser illumination state
SCSP ... Measurement speed(Motor rotational speed)
MESM ... Measurement Mode
SBPS ... Bit Rate for serial communication
TIME ... Time stamp (msec)
STAT ... Sensor Diagnostic