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Getting Distance data Using SCIP Command

This page will explain how to get distance data from the sensor using SCIP command.

What is "SCIP command"

SCIP commands are orders which PC send to sensors.

If you try to get data from your sensor, you need to order it to send data.
Other than demanding data, you need to order your sensor to do each functions.
SCIP commands are used to convey such orders.

For more details about SCIP commands , please check this page.
https://sourceforge.net/p/urgnetwork/wiki/scip_jp/

Setting Up for Connection

You need to change IP address of your PC to place the PC and the sensor on the same network.

See IP address setting and set up IP address , before starting.

First, turn on the sensor power and plug in sensor's LAN cable to your PC.

Set up Tera Term

You can communicate with your sensor by "Tera Term" application.

Please download "Tera Term" here

Install and launch the app.

When it have been launch, this window appears.

Fill out sensor's IP address and port number to boxes, then push "OK".
(default number of IP and port are "192.168.0.10", "10940".)

If connected correctly, IP is shown in window title.

Sending SCIP command

App's console show nothing , because no commands is being sent and your sensor have not start scanning.

You have to send some commands to let sensors start scanning.

Let's use SCIP commands to order the sensor.

This time, use three commands, "BM", "GD", "QT" for now.

"BM" lets a sensor turns on its laser and start scanning.

"GD" demand data of just one scan, one time.

"QT" request stopping scanning.

First, input "BM" in the console, then press enter key.

The response from the sensor is displayed on the console. It says " 00P".
Now, your sensor's laser have turned on and it can start measurements.

Next, input "GD" , but this command needs some more sentence to specify its order .
For now, input "GD0540054001".

If commanded as only "GD", sensors do not know of which direction to measure distance.
So, you must add after "GD" a sentence to specify those order options .

This time, add "0540054001" to the command. It means "please send data of distance in front direction, one time".

It may difficult to understand the meaning only from number array. Please read this page to understand how to add sentence and specify an order, or what that sentence is meaning.
https://sourceforge.net/p/urgnetwork/wiki/scip_capture_en/

UST -30LX measures 1081times in a scan, changing directions step by step. So, each measurement and its data is assigned step numbers from 0 to 1080.
Step numbers varies according to sensor models. When you are using models other than UST-30LX, please confirm how many steps they have.

This time, front direction corresponds to 540step.

When you input "GD0540054001" and press enter, reply will displayed in no time.

Lines in white painted area is response from the sensor.

In addition to distance data, several accessory data ware included to this response.

Upper three lines are not information of distance. If put them simply,

Line 1: Echo back of a command (sensors repeat commands they received)

Line2: Error code(00) + check sum(P)

Line3 : Time stamp(2eTF) + check sum(a)

The three letters in white painted area in fourth line indicate distance data .

SCIP Commands explains what these responses are meaning.

The distance data was "0b;" .

Finally, put "QT" in the console and stop the sensor scanning.

Decoding Distance Data

The three letters indicating distance data are difficult for us to understand.
Let's translate them to decimal number.

Here is decoding tool.
http://urgnetwork.sourceforge.net/SCIPEncodeDecode/SCIPEncodeDecode_en.html

For example, when the distance data "0b;" is put in the "Encoded" box, the number "3211" appears in the "Decoded" box. This number indicates the distance in front direction of the sensor in millimeter.

References

If you want to learn more details about SCIP command, Explanation about SCIP commands may help you.