Manual

www.velodyne.com
Digital Drive Series User’s Manual - 43
APPENDIX A:
RS-232 SERIAL OVERVIEW AND COMMANDS
Introduction
This document outlines Velodyne’s Digital Drive (DD) RS-232 protocol specication. This protocol indicates how
Digital Drive products receive run-time commands from devices such as Creston® Universal Remote Controls.
Com Port Setup
Use standard communications settings: Baud Rate: 9600, Data Bits: 7, Parity: None, Stop Bits: 1
DD IN and OUT Port Pin Conguration
DD serial ports use a standard conguration that allows direct connection to a PC via a FEMALE to MALE serial
cable. It uses only 3 pins (Transmit, Receive, Ground).
The pin congurations are:
IN: Pin 2 = Transmit
Pin 3 = Receive
Pin 5 = Ground
OUT: Pin 2 = Receive
Pin 3 = Transmit
Pin 5 = Ground
Runtime Command Format
Byte Number Byte Description Notes
0 ‘#’ Header Character
1 to 3 or 4 Command and Parameter Data 3 to 4 ASCII characters see formats below.
Case sensitive - CAPS ONLY!
4 or 5 ‘$’ Termination Character (required or command is
ignored)