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Appendix A: RS-232 Serial Overview and Commands
44
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www.velodyne.com
Digital Drive User’s Manual
Introduction
This document outlines Velodyne’s Digital Drive (DD) RS-232 protocol specification. 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 Configuration
DD serial ports use a standard configuration that allows direct connection to a PC via a FEMALE
to MALE serial cable. It uses only 3 pins (Transmit, Receive, Ground).
The pin configurations 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 3 to 4 ASCII characters see formats below
Parameter Data Case sensitive
- CAPS ONLY!
4 or 5
‘$’
T
er
mination Character (r
equir
ed or
command is ignored)