Nikon DTM Series Use and care manual

Nikon Communication Interface Manual
Nikon DTM Series
Nikon NPL Series
Nikon NPR Series
Nikon Nivo Series
Dec. 2009
Rev.4
© NIKON-TRIMBLE Corporation. All rights reserved.
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History:
Rev.2 2008-Mar-19 Added $LPT, ?LPT for NPR series
Rev.3 2009-Oct-12 Added Nivo series
Rev.4 2009-Dec-8 Modified *!BSE format
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Nikon Communication Interface Manual
1. Introduction
This manual explains how to connect Nikon Total Stations and external devices by
serial interface. About hardware and communication software necessary to the
connection are briefly described as well.
2. Interface system
The interface is directed by RS-232C. External devices must have a RS-232C port.
3. Connecter
3-1. Interface connecter
Cable side: HR10A-7R-6P Instrument side: HR10A-7R-6S
(Hirose Electric Co.) (Hirose Electric Co.)
HRS
6
4
5
1
3
2
HRS
1
3
2
6
4
5
<Pin assignments other than Nivo >
No. Symbol Signal name Direction
1 RXD Receiving data* InstrumentÅExternal device
2 TXD Sending data* InstrumentÆExternal device
3 V Power** N/A
4 NC Not in use N/A
5 GND Ground N/A
6 NC Not in use N/A
<Pin assignment for Nivo only>
No. Symbol Signal name Direction
1 RXD Receiving data* InstrumentÅExternal device
2 TXD Sending data* InstrumentÆExternal device
3 NC Not in use N/A
4 V Power** N/A
5 GND Ground N/A
6 NC Not in use N/A
* Name of the signal is from its action looking at the instrument.
** “Power” is a connecter to provide electricity to the instrument. It has nothing to do
with the communication.
(RXD) (TXD)
High level input voltage: 2.4V≦High level output voltage: 5～15V/3.5～5.0V
Low level input voltage: 0.6V≧Low level output voltage: -15～-5V/0～1.5V
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!!!CAUTION!!!
-Connection to the instrument side must follow the pin assignment above.
Misconnection may result in malfunctioning.
-By connecting RS-232C communication signal from external device and GND
to the pin #1,#2, and #5 on instrument side, the external device can be
download/upload data to the instrument.
-Electricity can be provided through pin #3 and #5 on the instrument, even if
the clip-on battery is mounted. The rated apparent power is DC7.2-11V (4.5
V to 5.2 V for Nivo only), Max 1A. Not to use the out-of-range power; it may
result in malfunctioning.
3-2. Connecter on external devices (in case of connection cable)
25 Pin
13
1
14 25
A
lignment looking at the pin side of the plug
No. Symbol Signal name Direction
2 TXD
Sending data* InstrumentÅExternal device
3 RXD
Receiving data* InstrumentÆExternal device
4, 5 CTS, RTS (connected inside)
6, 20 DSR, DTR (connected inside)
7 GND Ground N/A
* Name of the signal is from its action looking at the external device.
9 Pin
96
1
5
A
lignment looking at the hole side of the plug
No. Symbol Signal name Direction
2 RXD
Receiving data* InstrumentÆExternal device
3 TXD Sending data* InstrumentÅExternal device
4, 6 DSR, DTR (connected inside)
7, 8 CTS, RTS (connected inside)
5 GND Ground N/A
* Name of the signal is from its action looking at the external device.
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4. Electrical Characteristics
a) Synchronous Method : ASYNC
b) Communication Method : Full Duplex
c) Signal logic : Negative True (1: ≦0.8V, 0: 2.4V≧)
d) Signal level : ±9V, standard
d) Baud rate : 1200/2400/4800/9600/19200/38400
e) Stop bit : 1 or 2 bit
f) Data length : 7 or 8 bit
g) Parity : None/even/odd
5. Nikon Communication commands
5-1. Protocol
“Protocol” is a set of rules applied to the communication in order to receive/send data securely.
It is independent from contents of receiving/sending data.
<Basic Protocol>
+0 +1 +2 +3 --- +n +n+1 +n+2 +n+3 +n+4
SOH
(01h)
Sender
code
Receiver
code
STX
(02h)
Command or
data character
ETX
(03h)
BCC EOT
(04h)
CR
(0dh)
LF
(0ah)
Header Code Contents Chk Trailer
- SOH (01h): Header; Start of the communication
- Sender/Receiver codes: T: Instrument (Total Station)
R: Data Recorder
C: Other external device
Ex.) When sending data from an external device to the instrument, the code
becomes ‘CT’. If outputting data from instrument to an external device, it is
‘TC’.
- Contents:
<Command/Data Protocol>
SOH
(01h)
Sender
code
Receiver
code
STX
(02h)
Command/
Data string
ETX
(03h) BCC EOT
(04h)
CR
(0dh)
LF
(0ah)
STX (02h): Start of the command or data string
ETX (03h): End of the command or data string
* ASCII characters should be used in “Command/Data string”
<Control-code (ACK/NAK) Protocol>
SOH
(01h)
Sender
code
Receiver
code
ACK or
NAK BCC EOT
(04h)
CR
(0dh)
LF
(0ah)
ACK = 06h: Permission of communication or success in transmission.
NAK = 15h: Failure in transmission (= request for re-send)
* ACK/NAK control-code doesn’t need STX and ETX.
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- BCC: consists of 1-byte characters.
BCC= (S MOD 40h) + 20h (h = hex)
“S” in above formulae is the lower one byte of the total sum from “Sender
code” to “ETX” (=before BCC). “BCC” can be any value between 20h and
5Fh
* Compare the BCC in the received data and the calculated value.
If they are the same, the communication was successfully done.
- EOT: Trailer; End of the communication
The “CR/LF” is added at the end.
EOT = 04h
CR = 0dh
LF = 0ah
5-2. Procedures
-When instrument receives a block of data, BCC is checked and ACK is to be returned if the
block was successfully received. NAK is to be returned if an error is reported.
-If a NAK is received by the instrument, then the last block is to be resent by the instrument,
however, the count of NAK is not checked by the instrument, therefore, it is
recommendable to stop sending data by external devices side in such a case in order to
avoid any trouble which may be triggered in the hardware.
-No reply (ACK) is required to ACK/NAK.
・Receiving Success
<A>
<B>
Command/Data
Block-X
A
C
K
(END)
・Receiving Error
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(Resendthesameblock)
(END)
Command/Data
Block-X
Command/Data
Block-X
A
C
K
NA
K
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5-3. Commands/Data format
Three types of commands are available;
a) Remote control command: Change function. Most commands do not follow any data output.
b) Data set command: Set instrument settings such as temperature, pressure etc. No data output follows.
c) Data output command: Output measured data, setting data etc. Follows data output.
Keyword
Remote control command “$”
Data set command “!”
Data output command: “?”
Each command consists of a keyword, three characters. Parameters are added when necessary.
Keyword
($/!/?) Char-1 Char-2 Char-3 Parameter…
An asterisk is added in front of the keyword when the extended command is to be used.
* Keyword
($/!/?) Char-1 Char-2 Char-3 Parameter…
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5-4. Command list
a) Remote control commands
Command Remarks
$MSR Taking a distance measurement in Precise mode.
Resolution and average of current settings are used in the measurement.
When the “Data output after MSR” feature is set to ON, the measured data is to be
output in the specified format.
$TRK Taking a distance measurement in Normal mode.
Resolution and average of current settings are used in the measurement.
When the “Data output after MSR” feature is set to ON, the measured data is to be
output in the specified format.
$HTR Initiate continuous (tracking) distance measurements. (AVE=0)
Resolution is fixed to COARSE mode.
When the “Data output after MSR” feature is set to ON, the measured data is to be
output in the specified format.
$SHV Change displays. The same function as the “DSP” key on the instrument.
$RHA Reset horizontal angle to zero.
$BZR Beep for “n” x 50msec. (“n” = Length of the sound; 1~9)
$DON Set “output SD after each measurement” feature ON.
$DNX Set “output SD/HA/VA after each measurement” feature ON.
$DOF Cancel $DON and $DNX command.
$DSN Set “output SD after each measurement” feature ON. After this command, SD from
the very first measurement is to be output and “$DOF” is set automatically.
$DSX Set “output SD/HA/VA after each measurement” feature ON. After this command,
SD/HA/VA from the very first measurement is to be output and “$DOF” is set
automatically.
$HAN Change the display on the instrument to the basic measurement screen (BMS).
$ANG Change the display on the instrument to the BMS.
$REC Output the measured data (PT/HT /SD/HA/VA) with 7-digit PT.
$COF Turn the Lumi-Guide OFF.
$CON Turn the Lumi-Guide ON.
$LPT Turn the Laser pointer ON or OFF.
*$REC Output the measured data (PT/HT /SD/HA/VA) with 16-digit PT.
b) Data Set commands
Command Remarks
!AVE Set an average count of the measurement
!PNO Set a default point number/name
!PSM Set the prism constant
!T-P Set the current temperature and pressure
!HAN Set the horizontal angle (by 7 digits)
!CND Set a set of initial settings on the instrument
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!BSE Set station coordinate data (HI & Stn-XYZ) and HT.
!SOD Set a set of stakeout data (by HA+HD) and jump to the Stakeout screen
!SOC Set a set of stakeout data (by 9-digit coordinates) and jump to the Stakeout screen
!TGT Set the type of measuring target (Prism/Sheet or Prism/N-Prism)
*!PNO Set a point number. (16-digit PT)
*!HAN Set the current horizontal angle (by 8 digits)
*!SOC Set a set of stakeout data (by 12-digit coordinates) and jump to the Stakeout screen
*!BSE Set station coordinate data (HI & Stn-XYZ) and HT. (by 12-digit coordinate)
*!H-T Set a height of target. (by 7 digits)
C) Data Output Commands
Command Remarks
?CND Output a set of initial settings on the instrument
?VAN Output the current vertical angle (by 9 digits)
?HAN Output the current horizontal angle (clockwise; by 9 digits)
?HRV Output the current horizontal angle (counter-clockwise; by 9 digits).
?SDS Output the current slope distance
?HDS Output the horizontal distance
?VDS Output the vertical distance
?PSM Output the current prism constant value
?PNO Output the current default point number/name (in 7 digits)
?T-P Output the current temperature and pressure
?BAT Output the current battery level
?AVE Output the average count of measurement
?BSE Output the current station coordinate (HT/HI/Stn-XYZ) on the instrument
?CDR Output a coordinate
?SOD Output a set of stakeout data (by HA+HD)
?SOC Output a set of stakeout data (by 9-digit Coordinate)
?LPT Output the status of the Laser pointer.
*?PNO Output the current default point number/name (16-digit PT)
*?BAT Output the current battery level (in 16 levels)
*?CDR Output coordinates (in 12-digit)
*?SOC Output a set of stakeout data (by 12-digit coordinates)
*?BSE Output the current station coordinate(HT/HI/Stn-XYZ) (in 12-digit coordinate)
*?H-T Output the height of target (in 7 digits)
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5-5. Format of commands
a) Remote control command
$MSR
Input None
Output None
Remarks Taking a distance measurement in Precise mode.
Resolution and average of current settings are used in the measurement.
When the “Data output after MSR” feature is set to ON, the measured data is to be
output in the specified format.
$TRK
Input None
Output None
Remarks Taking a distance measurement in Normal mode.
Resolution and average of current settings are used in the measurement.
When the “Data output after MSR” feature is set to ON, the measured data is to be
output in the specified format.
$HTR
Input None
Output None
Remarks Initiate continuous distance measurements. (AVE=0)
Resolution is fixed to COARSE mode.
When the “Data output after MSR” feature is set to ON, the measured data is to be
output in the specified format.
$SHV
Input None
Output None
Remarks Change display. (Same as [DSP] key on the instrument.)
$RHA
Input None
Output None
Remarks Reset the horizontal angle to zero.
$BZR
Input + 0 : Length (1 to 9)
Output None
Remarks $BZRn; Beep a tone for “Length” x 50 msec.
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$DON
Input None
Output None
After receiving this command, output SD in the following format upon every
measurement (initiated by $MSR).
+ 0 : " "
+ 1 : "S"
+ 2 : "D"
+ 3 : ":"
Remarks
+ 4-12 : Slope distance data (9-digit distance type)
$DNX
Input None
Output None
After receiving this command, output HA/VA/SD in the following format upon each
measurement (initiated by $MSR).
+ 0 : " "
+ 1 : "S"
+ 2 : "D"
+ 3 : ":"
+ 4 - 12 : Slope distance data (9-digit distance type)
+ 13 : " "
+ 14 : "H"
+ 15 : "A"
+ 16 : Tilt sensor ON: ":" Tilt sensor OFF: "#"
Single tilt sensor model: fixed to ":"
+
17 -
25 : Horizontal angle data (9-digit angle type)
+ 26 : " "
+ 27 : "V"
+ 28 : "A"
+ 29 : Tilt sensor ON: ":" Tilt sensor OFF: "#"
Remarks
+
30 -
38 : Vertical angle data (9-digit angle type)
$DOF
Input None
Output None
Remarks Cancel the $DON/$DNX (data output upon every measurement).
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$DSN
Input None
Output None
Remarks Set “output SD after each measurement” feature ON. After this command, SD from
the very first measurement (initiated by $MSR) is to be output and “$DOF” is set
automatically.
$DSX
Input None
Output None
Remarks Set “output SD/HA/VA after each measurement” feature ON. After this command,
SD/HA/VA from the very first measurement (initiated by $MSR) is to be output and
“$DOF” is set automatically.
$HAN
Input None
Output None
Remarks Return (=change the screen on the instrument) to the BMS.
$ANG
Input None
Output None
Remarks Return (=change the screen on the instrument) to the BMS.
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$REC
Input None
Output + 0 : " "
+ 1 : "P"
+ 2 : "N"
+ 3 : ":"
+ 4 - 10 : Point number (7 digits)
+ 11 : " "
+ 12 : "S"
+ 13 : "D"
+ 14 : ":"
+
15 -
23 Slope distance data (9-digit distance type)
+ 24 : " "
+ 25 : "H"
+ 26 : "A"
+ 27 : Tilt sensor ON: ":" Tilt sensor OFF: "#"
: Single tilt sensor model: fixed to ":"
+
28 -
36 : Horizontal angle data (9-digit angle type)
+ 37 : " "
+ 38 : "V"
+ 39 : "A"
+ 40 : Tilt sensor ON: ":" Tilt sensor OFF: "#"
+
41 -
49 : Vertical angle data (9-digit angle type)
+ 50 : " "
+ 51 : "H"
+ 52 : "T"
+ 53 : ":"
+
54 -
62 : Height of target (9-digit distance type)
Remarks Output the measured data with 7-digit PT.
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$COF
Input None
Output None
Remarks Turn the Lumi-Guide OFF.
$CON
Input None
Output None
Remarks Turn the Lumi-Guide ON.
$LPT
Input +0 : “0” OFF
: “1” ON
Output None
Remark Turn the Laser pointer ON or OFF.
Laser pointer turn OFF when the input parameter +0 is “0”.
Laser pointer turn ON when the input parameter +0 is “1”.
*Only the NPR series is effective to this command.
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*$REC
Input None
+ 0 : " "
+ 1 : "P"
+ 2 : "N"
+ 3 : ":"
+ 4 - 19 : Point number (16 digits)
+ 20 : " "
+ 21 : "S"
+ 22 : "D"
+ 23 : ":"
+
24 -
32 Slope distance data (9 digits distance type)
+ 33 : " "
+ 34 : "H"
+ 35 : "A"
+ 36 : Tilt sensor ON: ":" Tilt sensor OFF: "#"
: Single tilt sensor model: fixed to ":"
+
37 -
45 : Horizontal angle data (9-digit angle type)
+ 46 : " "
+ 47 : "V"
+ 48 : "A"
+ 49 : Tilt sensor ON: ":" Tilt sensor OFF: "#"
+
50 -
58 : Vertical angle data (9-digit angle type)
+ 59 : " "
+ 60 : "H"
+ 61 : "T"
+ 62 : ":"
Output
+
63 -
71 : Height of target (9 digits)
Remarks Output the measured data with 16-digit PT.
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b) Data set command
!AVE
Input + 0 - 1 : Number of averaging measurement (“00” – “99”)
Output None
Remarks Set an average count of the measurement. It is set to [MSR] (or [MSR1]) key only.
!PNO
Input + 0 - 6 : Point number (7 digits)
Output None
Remarks Set a default point number/name (7-digit PT)
!PSM
Input + 0 - 3 : Prism constant ("-999" - "999")
Output None
Remarks Set the prism constant. It is set to [MSR] (or [MSR1]) key only.
!T-P
Input + 0 - 2 : Air temperature
+ 3 : " "
+ 4 - 7 : Air pressure
Output None
Remarks Set the current temperature and pressure.
!HAN
Input + 0 - 6 : Horizontal angle (7 digits)
Output None
Remarks Set the horizontal angle. (in 7 digits)
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!CND
+ 0 : Tilt sensor : "O": OFF, "I": ON
+ 1 : Don’t care
+ 2 - 3 : Time of main power cut timer
+ 4 - 5 : Time of EDM power cut timer
+ 6 : Don’t care
+ 7 : Don’t care
+ 8 : Angle resolution: H: high, C: normal, L: low
+
9
: Temp./Press. unit
hPa mmHg inchHg
ﾟC "2" "0" "1"
ﾟF "5" "3" "4"
+ 10 : Distance unit M: Meter, N:International-Feet, F:US-Feet
+ 11 : Angle unit D: DMS, G: GON, M: MIL
+ 12 : Vertical zero position: V: Zenith, H: Horizon, C: Compass
+ 13 : Coordinates axis: X: NEZ order, Y: ENZ order
+ 14 : Coordinates label: X: XYZ label, N: NEZ (or ENZ) label
+ 15 : C&R correction: O: OFF, I: ON
+ 16 : Don’t care
+ 17 : Don’t care
+ 18 : Distance resolution: S: High precision, L: Low precision
Input
+ 19 : Don’t care
Output None
Remarks Set a set of initial settings on the instrument
There is no command for C&R coefficient.
!BSE
+ 0 - 5 : Height of target (6-digit distance type)
+ 6 : " "
+ 7 - 12 : Height of instrument (6-digit distance type)
+ 13 : " "
+
14 -
22 : X-coordinate (9-digit distance type)
+ 23 : " "
+
24 -
32 : Y-coordinate (9-digit distance type)
+ 33 : " "
Input
+
34 -
42 : Z-coordinate (9-digit distance type)
Output None
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Remarks Set station coordinate data (HI & Stn-XYZ) and HT.
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!SOD
+ 0 - 8 : Height difference (9-digit distance type)
+ 9 : " "
+
10 -
17 : Horizontal angle (8-digit angle type)
+ 18 : " "
Input
+
19 -
27 : Z coordinate (9-digit distance type)
Output None
Remarks Set a set of stakeout data (by HA+HD). Upon receiving this command, it jumps to the
Stakeout observation screen as well.
!SOC
+ 0 - 8 : X coordinate (9-digit distance type)
+ 9 : " "
+
10 -
18 : Y coordinate (9-digit distance type)
+ 19 : " "
Input
+
20 -
28 : Z coordinate (9-digit distance type)
Output None
Remarks Set a set of stakeout data (by 9-digit coordinates). Upon receiving this command, it
j
umps to the Stakeout observation screen as well.
!TGT
Input + 0 : P: prism, R: reflector sheet, N: reflectorless mode
Output None
Remarks Set the measuring target (Prism or Ref-sheet/Non-Prism).
DTM-500/501/502//350/330/352/332 can be set to “P” or “R”
NPL-350/352/332 can be se to “P” or “N”
*!PNO
Input + 0 - 15 : Point number (16 digits)
Output None
Remarks Set a point number. (16-digit PT)
*!HAN
Input + 0 - 7 : Horizontal angle (8-digit angle type)
Output None
Remarks Set the horizontal angle. (in 8 digits)
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*!SOC
+ 0 - 11 : X coordinate (12-digit distance type)
+ 12 : " "
+
13 -
24 : Y coordinate (12-digit distance type)
+ 25 : " "
Input
+
26 -
37 : Z coordinate (12-digit distance type)
Output None
Remarks Set a set of stakeout data (in 12-digit coordinates) and jump to the Stakeout screen.
*!BSE
+ 0 - 6
:
Height of target (7-digit distance type)
7
:
" "
+ 8 - 19
:
X-coordinate (12-digit distance type)
+ 20
:
" "
+ 21 - 32
:
Y-coordinate (12-digit distance type)
+ 33
:
" "
Input
+ 34 - 45
:
Z-coordinate (12-digit distance type)
Output None
Remarks Set station coordinate data (HI & Stn-XYZ) and HT. (in 12-digit coordinates)
*!H-T
Input + 0 - 6 : Height of target (7-digit distance type)
Output None
Remarks Set a height of target. (in 7 digits)
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