Noptel CM3, CM5 Configuration And Api Manual

CM Distance Sensors

Configuration and API Guide

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Contact information
Noptel Oy

Address: Teknologiantie 2

FI-90590 Oulu

Finland
Tel.: [phone]
Fax: [phone]
E-mail: [e-mail]
Technical support: Web site: www.noptel.fi

Downloads:

Documents :

http://www.noptel.fi/eng/nms/index.php?doc=7_downloads/5_manuals

Software:

http://www.noptel.fi/eng/nms/index.php?doc=7_downloads/7_software

Firmware:
Ask from [e-mail]

Document Information :

Document Title: CM Distance Sensors Configuration and API Guide
Document Version: 1.10
Released: 11.10.2018
Current printing 11.10.2018
Document ID : N42119CE
Document Status: Release
Firmware version CM3: 0.32.x2 (CM3 and CMP3)
Firmware version CM5: 3.06.22 (CM5, CMP51 and CMP52)

Copyright Notice:

Specifications and implementation subject to change without notice due to continuous
research and development.

Copyright © 2016 Noptel Oy, Oulu, Finland

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1 INTRODUCTION TO THE CM DISTANCE SENSORS ............................................ 6

1.1 INTRODUCTION ............................................................................................................. 6

1.2 COMMUNICATION PROTOCOL ......................................................................................... 6

1.3 COMMANDS IN CONFIGURATION MODE ........................................................................... 7

2 OPERATION MODES ............................................................................................. 10

2.1 LIST OF OPERATION MODES ......................................................................................... 10

2.2 OUTPUT AT STARTING OF THE OPERATION MODE .......................................................... 12

3 DISTANCE MEASUREMENTS ............................................................................... 13

3.1 ASCII MODE .............................................................................................................. 13

3.1.1 ASCII format of the distance measurement .......................................................... 13

3.2 BINARY FORMAT OF THE DISTANCE MEASUREMENT ....................................................... 14

3.2.1 Centimeter output format (2–3 bytes) ................................................................... 14

3.2.2 Extended centimeter output format (3–4 bytes) .................................................... 15

3.2.3 Millimeter output format (3–4 bytes) ..................................................................... 16

3.3 CONTINUOUS BINARY MODE ........................................................................................ 17

3.4 BINARY MODE, HW CONTROLLED ................................................................................ 18

3.5 BINARY MODE, SERIAL CONTROLLED ............................................................................ 19

3.6 CAPTURE MODE, HW CONTROLLED ............................................................................. 21

3.7 CAPTURE MODE, SERIAL CONTROLLED ......................................................................... 21

3.8 SYNCHRONIZED BINARY MODE FOR CM(P)5X .............................................................. 22

4 SPEED MEASUREMENTS ..................................................................................... 24

4.1 SPEED MEASUREMENT MODE WITH TWO SENSORS ........................................................ 24

4.1.1 Vehicle length and height ..................................................................................... 26

4.1.2 Output format ....................................................................................................... 27

4.1.2.1 Result ............................................................................................................................ 27

4.2 SPEED MEASUREMENT MODE WITH ONE SENSOR .......................................................... 28

4.2.1 User’s control over the speed calculation ............................................................. 32

4.2.2 Adaptive measurement window for departing vehicles ......................................... 32

4.2.3 Vehicle profile data ............................................................................................... 34

4.2.4 Automatic distance setting of measurement window ............................................ 34

4.3 CONTINUOUS SPEED MODE ......................................................................................... 35

4.4 SIZE MODE ................................................................ ................................................. 36

4.5 MULTILANE SPEED MEASUREMENT MODE ..................................................................... 36

5 DETECTION MODES ............................................................................................. 39

5.1 TRIGGER WINDOW MODE ............................................................................................. 39

5.1.1 In window and Out of window triggering ............................................................... 40

5.1.2 Trigger count and timing information .................................................................... 41

5.1.3 Profile measurement ............................................................................................ 41

5.2 MOVEMENT TRIGGER MODE......................................................................................... 42

6 TROUBLESHOOTING ............................................................................................ 44

6.1 ERROR TABLE ............................................................................................................ 44

6.2 EXPLANATIONS OF THE ERROR CODES ......................................................................... 44

6.3 SELF-TEST ERRORS .................................................................................................... 45

6.4 ERRORS DURING MEASUREMENT ................................................................................. 46

7 PARAMETERS ....................................................................................................... 47

7.1 USER PARAMETER COMMANDS .................................................................................... 47

7.2 PERMANENT MEMORY PARAMETERS ............................................................................ 49

7.3 PARAMETER LIST ........................................................................................................ 49

7.4 CONTROL BYTE 1 ....................................................................................................... 55

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7.5 CONTROL BYTE 2 ....................................................................................................... 56

7.6 CONTROL BYTE 3 ....................................................................................................... 56

7.7 CONTROL BYTE 4 ....................................................................................................... 57

7.8 CONTROL BYTE 5 ....................................................................................................... 57

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1 INTRODUCTION TO THE CM DISTANCE SENSORS

1.1 Introduction

This document presents Configuration and Application programming interface (API) for
CM Distance Sensors. Connections and hardware of the sensors are presented in ”CM3-

30 and CMP3-30 Technical Manual” and “CM5, CMP51, CMP52 and Speeder X1
Technical manual”.

The sensors are suitable for Distance Measurements, Speed Measurements and Target
Detections. Versatile utilization of sensors leads to diverse Configuration and
Parameterization. The document is intended to facilitate the work.

1.2 Communication protocol

Serial connection:

The sensors operate connected to the RS-232 port with baud rates from 1200 up to
115200 Bd or RS-422 port with baud rates from 1200 up to 460800 Bd. The
communication rate of the CM(P)5 family is up to 921600 Bd with RS-422.

The bit stream of serial port consists of:

Data bits

8

Parity

None

Stop bit

1

Flow Control

None

The main commands of the sensor are described in this chapter. The default baud rate is

9600. If the baud rate is not known, the user can reset the baud rate to 9600 by sending
multiple <esc>’s to the serial port, while connecting power on to the sensor.

LAN connection (CM5 family):

LAN connection is based on Lantronix xPico embedded TCP/IP controller. See the
manufacturer documentation for further details.

http://www.lantronix.com/wp-content/uploads/pdf/xPico_UG.pdf

Command protocol is in the form:

<esc>[Device Number]<Command><Value1>,<Value2><cr>

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Where
<esc> ASCII code 27
[Device Number] is an option, 1–9 if two or more sensors are connected to a serial port,
Command is a command according to the Chapter 1.3,
<Value1> and <Value2> are parameter No. and values in ASCII format (if needed), and
<cr> is Carriage Return (ASCII code 13).

The controller must be in Configuration Mode (par. #1 = 0) when giving commands. The
character <esc> is used for returning the sensor to the base state.

<esc> has three basic functions:

1. Precedes every command.

2. Deletes wrong command.

3. Returns the Sensor into Configuration Mode.

Echo mode:

The system has two communication modes: echo and no echo. In echo mode the
commands and numbers will be echoed back to allow easier operation with terminal
software. Characters prior <esc> are not echoed. In no-echo mode no characters or
numbers are echoed. The echo mode can be defined by Commands <i>, echo OFF and
<I>, echo ON. These commands will assign bit 1 of Control Byte 2 respectively.

Start-up:

The sensor starts to operate always in the mode according to parameters in the
permanent parameter memory. Parameters are changeable, but before saving
parameters into the permanent memory, user should always test the proper function of
the sensor.

1.3 Commands in Configuration mode

The commands in Configuration mode are as follows:

Command

Description

Answer

c

Measure distance once

Dxxxxx [aaaaa]

1)

C

Measure distance continuously, until next <esc>

Dxxxxx [aaaaa] 1)

Dxxxxx [aaaaa] ....

d

Return error list of the Sensor

Error table, chapter 6.1

G

Reset the Sensor

GOK

2)

H<Value>

Return <Value> count of distance measurement results
(in ASCII format, average parameter used)

HDxxxxx aaaaa

1)

Dxxxxx aaaaa ....

ERRCNT=y

i

Set serial port echo OFF

ECHO OFF
IOK

I

Set serial port echo ON (Capital I)

ECHO ON
IOK

J<0/1>

1 = Continuous laser pulsing ON
0 = Laser pulsing OFF
During laser pulsing trigger output will toggle with each
pulse. Feature can be used to check the accuracy of

1
0

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the system time base. The pulse rate is defined by
parameters 4 and 5 (See chapter 7.3)

L<No.>

Read the used value of the parameter No.

Lxxxxx

L

Read all used parameters

L0001 xxxxx
L0002 xxxxx
….

LW<No.>

Read word (16 bits) parameter from location No. and
No.+1

Lxxxxx

M

Use the set measurement mode as defined in
parameter 1.
See Chapters 3, 4 or 5 for explanation of the modes.

MOK
M<No.>

Use measurement mode No.
See Chapters 3, 4 or 5 for explanation of the modes.

MOK
O<0/1>

0 = pointer OFF, 1 = pointer ON

OOK

P<No.>

Read the value in EPROM of the parameter No.

Pxxxxx

S

Save user parameters into the permanent memory
(X must be used before)

SOK
T<No.>,<Value>

Write <Value> to the parameter <No.> (ram)

TOK

TW<No.>,<Value

Write integer <Value> (0-65535) to parameter <No.>
and <No.>+1

TOK

U

Automatic distance setting of measurement window

Sensor guides user
through the process

v (lower case)

Sensor information in the Noptel internal format

V (upper case)

Sensor information in ASCII format (version)

Sensor information 3)

V1

Read voltage, current and temperature measurements

Table 4)

V2

Perform self-test and show its result

OK or
Explanation of the
error see chapter 6.3

V7

Calculate flash checksum of program flash, first value
is calculated and second is original from the memory

xxxxh,xxxx
OK

V9

Send test pulse to Digital In / Digital Out (signal 5)

Pulse to
DIGIN/DIGOUT

X

Enable writing into the permanent memory

WR ENABLE

Commonly used commands in configuring the sensor for applications are light blue.
The end of the line of answer is always <cr><lf>.

1)

Distance measurement commands

Commands c and C, return results according to Chapter 3.1. The command H is the same
except Amplitude Output cannot be disabled.

2)

Sensor information at Power-up and after Resetting

9600 (Baud Rate)

EEPROM PARAMS RESTORED

CMP3-SENSOR

CMP3003126 RS-UPLOAD PRESENT

Noptel Oy

ParamDate:2006.02.27

Version :0.30.58 69DFh

SW Date :Aug 09 2007

SW time :12:51:12

Ubat :10.3 V

READY!

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3)

Sensor information <esc>V<cr>

An example of the output for command V:

CMP3-SENSOR

CMP3003126 RS-UPLOAD PRESENT

Noptel Oy

ParamDate:2006.02.27

Version :0.30.58 69DFh

SW Date :Aug 09 2007

SW time :12:51:12

Ubat :10.3 V

OK

The order of lines varies in different firmware versions of the Sensor.

4)

Voltage, current and temperature table (table is for diagnostic purposes only)

An example of the output for the command V1 is presented below (units are added):

Description Value Unit (Not in the output)

APD :02212 [0.1V]

RX temp :03222 [0.01°C]

RX Anaout :0156 [mV]

Current :00201 [mA]

VDD :05068 [mV]

VAN :02960 [mV]

VTDC :04845 [mV]

CP temp :02540 [°C]

UBAT :10293 [mV]

UDCDC :0548 [mV]

VRX :05161 [mV]

VOSC :05022 [mV]

VTX :05138 [mV]

VCP :03348 [mV]

TXHV :00257 [V]

TX temp :02311 [0.01°C]

OK

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2 OPERATION MODES

2.1 List of operation modes

0 ASCII mode / Configuration Mode (Chapter 3.1)

The Sensor sends measurement results in ASCII format according to the user’s
commands and parameter settings. In this mode the sensor receives commands like
parameter change and state control or operation mode selection.

1 Continuous ASCII mode (Chapter 3.1)

The sensor sends measurement results in ASCII format continuously according to the
parameter settings.

2 Continuous Binary mode (Chapter 3.3)

The sensor sends measurement data in binary format according to parameter settings
until <esc>.

3 Binary mode, HW controlled (Chapter 3.4)

The sensor sends measurement data in binary format according to parameter settings.
The measurement is controlled by the trigger-input-line.

4 Binary mode, serial controlled (Chapter 3.5)

The sensor sends measurement data in binary format according to parameter settings.
The measurement is controlled by serial communication.

5 Trigger window mode (Chapter 5.1)

The sensor controls the measurement results in the trigger window, and according to
parameters it gives trigger-output-signal and sends trigger distance to serial-port. In this
mode the profile of the moving target can also be measured.

6 Speed measurement mode with two sensors (Chapter 4.1)

The sensor works as the second sensor and waits for the trigger-input-signal from the
first sensor. Having received the trigger signal, it waits its own trigger activation and
calculates speed using parameter values.

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7 Speed measurement mode with one sensor (Chapter 0)

The sensor waits for the target to be in the trigger window and then starts measuring the
change of distance to the target in the selected window and calculates the speed of the
target.

8 Capture mode, HW controlled (Chapter 3.6)

The sensor records 1000 samples into its memory having been activated by a trigger in
line and after the recording sends the values in ASCII format to the serial line.

9 Capture mode, serial controlled (Chapter 3.7)

The sensor records 1000 samples into storage after activation via the serial
communication line. Results are sent in ASCII format to the serial line.

10 Continuous speed mode (Chapter 4.3)

In this mode the sensor gives speed values whenever it can detect movement in the
measurement range. The target may move into any direction. The mode gives accurate
speed values only if the shape of the target and the measurement geometry do not affect
the measurement. The best measurement results are achieved when the target is far, or
it is followed during the measurement.

11 Size mode (Chapter 4.4)

In this mode the sensor operates in the same way as in Mode 7, but the accurate speed
algorithm is not used. The mode is used to get rough classification data from traffic.

12 Multilane speed measurement mode (Chapter 4.5)

The mode is designed to be used at the side of the road on the level of vehicles. The
mode provides the possibility to catch the speeds of vehicles travelling on more than one
lane.

13 Movement trigger mode (Chapter 5.2)

The feature requires a special firmware which is available on request.

In this mode the sensor gives a trigger when distance to a target changes. For example,
the sensor can trigger to the opening of a door, but does not react to people passing
between the sensor and the door.

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2.2 Output at starting of the operation mode

Output of the Sensor after mode command (<esc>M<No.><cr>) are following:

Mode <No.>

Output

0

MOK, no effect

1

MOK
Dxxxxx [aaaaa]

Dxxxxx [aaaaa] ....

2

MOK
(Binary format distances)

3

MOK
HW BINARY MODE
ESC to EXIT

4

MOK
RS BINARY MODE
ESC to EXIT

5 (example)

MOK
TRIGGER MODE
TRIG IN 500–550 cm
ESC to EXIT

6 (example)

MOK
TWO DEVICE SPEED MODE
TRIG IN 500–550 cm
ESC to EXIT

7 (example)

MOK
SINGLE DEVICE SPEED MODE
Approaching vehicles mode
Speed window size : 100 cm
TRIG IN 2000–2500cm
ESC to EXIT

8

MOK
ESC to EXIT
HW CAPTURE MODE (1000 SAMPLES)

9

RS CAPTURE MODE (1000 SAMPLES)
ESC to EXIT

10

CONTINUOUS SPEED MODE. ESC TO EXIT

11 (example)

SINGLE DEVICE SIZE MODE
Departing vehicles mode
Speed window size : 300 cm
Vehicle classification activated.
TRIG IN 2460–2960 cm
ESC to EXIT

12 (example)

MULTILANE SINGLE DEVICE SPEED MODE
Lane Configuration:
Approaching : 5 - 20 m.
Departing : 20 - 45 m.
Speed window size : 100 cm
TRIG IN 500- 4500 cm
ESC to EXIT

13 (example)

MOVEMENT TRIGGER MODE
Reference distance : 995 cm
TRIG IN 945- 1045 cm
ESC to EXIT

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3 DISTANCE MEASUREMENTS

In the following chapters Parameter number n is written Pn and a bit number m (0..7) of
the parameter bm.

3.1 ASCII Mode

The value of the P1 is 0 (= single) or 1 (= continuous).

In this mode the sensor measures the distance to the target either after the detection of
<space> character if Control Byte 2, b5 is 0 or by the activation of Digital-input-signal or
by the user command (c or C). Serial port communication is in ASCII format. The
maximum measurement speed in ASCII mode depends on the communication speed and
parameter settings. Continuous mode can be activated by command <esc>M1<cr> or
<esc>M<cr> if value of P1 is 1.

Parameters related to ASCII mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

0 or 1

2 B Control Byte 1

b2

Minimum Scanning

0 b3

Single HW Measurement

0 b4

Hardware Input Disable

0 3 B

Control Byte 2

b2

Decimal Enable

0 b3

Amplitude Output Enable

1 b4

Power Down Enable (CMx3 / 12V)

0 b5

Fast Key Disable

0 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
7 B Averaging

2n

0 - 14

4 8 B

Attenuation

0 - 15

0 9 B

Measure Interval

10 ms

0 - 255

0

10 B Measure Acceptance Level

%

1 - 100

30

11 B Device Number

0 - 9

0

25 B Continuous Filter

0 - 255

0

26 B Control Byte 3

b0

Auto Attenuation

0

3.1.1 ASCII format of the distance measurement

The data in ASCII mode is delivered in the following format:

Distance result from the sensor

Dzxxxxx[.d]<space>[aaaaa]<cr><lf>

z is automatically added number for values > 99m
xxxxx is distance in millimetres,
.d is the decimal digit (option),
aaaaa is the signal amplitude value (option)

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The answer format depends on Decimal Enable in Control Byte 2 b2 as follows:

“1”: Dxxxxx.x aaaaa.a “0”: Dxxxxx aaaaa

Received signal amplitude (aaaaa) is sent if Amplitude Output is Enabled (Control Byte 2,
b3 = 1). It can be used for analysing a quality of measurement. The higher the value, the
better quality of a distance measurement result. The range is from a few tens up to 1300.

D00000 refers to a failed distance measurement. In the case the amplitude value carries
an error code. The Code is given only if the Amplitude Output is Enabled (Control Byte 2,
b3 = 1).

Error codes are described in chapter 6.2

Minimum scanning (Control Byte 1, b2 = 1)

Minimum scanning looks for the minimum distance found during the scanning period. The
scanning period can be controlled either through serial line or trigger-input. In serial line
control the <space> character starts the scanning and any following character stops it. In
trigger control the scanning is active while the trigger-input line is active. After each
scanning period the sensor gives the minimum distance out.

3.2 Binary format of the distance measurement

The data in Binary mode is delivered in 2, 3 or 4 bytes depending on the control bits.
There are two basic binary formats available: one is for output in centimetres and the
other in millimetres.

3.2.1 Centimeter output format (2–3 bytes)

This format can be used for distance up to 81.9 metres. When vehicle profile data is
presented during speed measurement with single sensor third data byte is pulse counter.

Extended Binary Output is Disabled (Control Byte 2, b7 = 0)

First data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

1 h80

Start of the data bytes

x h40

Error bit

0 = Correct distance measurement
1 = Error in distance measurement

x x x x x x h00

to

h3F

Distance Value MSB or Error code

- Distance bits 12 to 7

- Error Code if bit 6 = 1 (hC2)

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Second data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Distance Value LSB

- Distance bits 6 to 0 [cm]

- ‘E’ if error (h45)

Third data byte (only if bit 3 of Control Byte 2 Enabled)

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Signal Amplitude

- Amplitude divided by 16

- ‘R’ if error (h52)

*Third data byte (Profile data, speed measurement with one sensor)

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Pulse counter (time information)

- Pulse count divided by 16

- ‘R’ if error (h52)

Distance = 128 x Distance Value of First Data Byte + second byte [cm]

3.2.2 Extended centimeter output format (3–4 bytes)

This format adds one byte to the result making it possible to get distance values of up to
specified maximum. Extended Binary Output is Enabled (Control Byte 2, b7 = 1).

First data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

1 h80

Start of the data bytes

x h40

Error bit

0 = Correct distance measurement
1 = Error in distance measurement

x x x x x x h00

to

h3F

Distance Value MSB or Error code

- Distance bits 19 to 14

- Error Code if bit 6 = 1

Second data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Distance Value

- Distance bits 13 to 7

- ‘E’ if error (h45)

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Third data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Distance Value

- Distance bits 6 to 0 [cm]

- ‘R’ if error (h52)

Fourth data byte (only if bit 3 of Control Byte 2 Enabled)

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Signal Amplitude

- Amplitude divided by 16

- ‘R’ if error (h52)

Distance = 128x128 x Dist. Value of First Byte + 128 x second byte + third byte [cm]

3.2.3 Millimeter output format (3–4 bytes)

The format can be enabled by setting Millimetre Binary Output (Control Byte 2, b6 = 1).

Extended Binary Output (Control Byte 2, b7 = x) does not have effect.

First data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

1 h80

Start of the data bytes

x h40

Error bit

0 = Correct distance measurement
1 = Error in distance measurement

x x x x x x h00

to

h3F

Distance Value MSB or Error code

- Distance bits 19 to 14

- Error Code if bit 6 = 1

Second data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Distance Value

- Distance bits 13 to 7

- ‘E’ if error (h45)

Third data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Distance Value

- Distance bits 6 to 0

- ‘R’ if error (h52)

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Fourth data byte (only if b3 of Control Byte 2 Enabled)

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Signal Amplitude

- Amplitude divided by 16

- ‘R’ if error (h52)

Distance=128x128 x Distance Value of First Byte + 128 x second byte + third byte [mm]

3.3 Continuous binary mode

The value of the P1 is 2.

The command <m> sets the sensor into continuous binary mode, when P1 is set
correspondingly. Serial port communication is in binary format. Measurement starts after
sending command <esc>m<cr> to serial line or after start-up of the sensor.

The sensor sends measurement data as long as it is in binary mode. The sensor returns
into Configuration mode by sending an <esc> character (ASCII, 27) to the communication
line.

Fig. 1. Driving of Continuous binary mode. Commands are sent via serial port.

Parameters related to Continuous Binary mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

2 3 B

Control Byte 2

b3

Amplitude Output Enable

0 b6

Millimetre Binary Output (Note 1) **

0 b7

Extended Binary Output (Note 1)

0 4 B

Baud Rate (Note 2)

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000

Starting and Stopping of the Mode according to the parameter 1 (= 2)

<esc>M<cr>

<esc>

Binary

Normal

<esc>

<esc>M<cr>

Measurements

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8 B Attenuation

0 - 15

0

11 B Device Number

0 - 9

0

22 B Binary Average ** (In millimetre mode only)

2n

0 - 14

0

The suggested max rate for continuous measurement depends on the model, and the
minimum rate is 50 Hz. Special, high pulse rate versions of the sensor are available on
request.

Note 1: Millimetre or Extended Binary output is not available in high pulse rate versions!

Note 2: If the communication speed is too low it constrains the maximum measurement
speed.

3.4 Binary mode, HW controlled

The value of the P1 is 3.

The command <m> sets the sensor into hardware controlled binary mode, when the P1
is set correspondingly. Serial port communication is in binary format.

Measurement starts by pulling the trigger-input down. This is done by connecting pin 7 in
the I/O-connector to ground (pin 2). See the connection table in Technical Manual.

Measurement starts after 6 µs ± 0.5 µs (CM(P)3 20 µs ± 1 µs) delay from the activation.
The sensor sends measurement data as long as the line is activated (low). Measuring
stops after the line has been deactivated (set high) and starts again at a new activation.
When the sensor is in HW-controlled mode, measurement is always on when the trigger
line is active (low).

The sensor will return into Configuration mode by sending an <esc> character to the
communication line. Stopping the Binary mode is possible during measurements or in
pause.

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Fig. 2. Driving of the measurements with Trigger Input signal.

Parameters related to HW Controlled Binary mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

3 3 B

Control Byte 2

b3

Amplitude Output Enable

0 b6

Millimetre Binary Output (Note 1) **

0 b7

Extended Binary Output (Note 1)

0 4 B

Baud Rate (Note 2)

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
8 B Attenuation

0 - 15

0

11 B Device Number

0 - 9

0

22 B Binary Average ** (In millimetre mode only)

2n

0 - 14

0

The suggested maximum rate for continuous measurement depends on the model, and
the minimum rate is 50 Hz. Special, high pulse rate versions of the sensor are available
on request.

Note 1: Millimetre or Extended Binary output is not available in high pulse rate versions!

Note 2: If the communication speed is too low it constrains the maximum measurement
speed.

3.5 Binary mode, serial controlled

The value of the P1 is 4.

Trigger In (pin 7)

Starting of the Mode according to the parameter 1 (= 3)

<esc>M<cr>

<esc>

Binary

Normal

Measurements

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The command <m> sets the sensor into serial controlled binary mode, when P1 is set
correspondingly. Serial port communication is in binary format.

Measurement starts by sending <space> (ASCII Code 32) to the line. Measuring can be
stopped by any character and started again with <space>. The operation is the same as
with the hardware triggering. The sensor is returned into Configuration mode by stopping
the measurement with <esc> character.

Fig. 3. Driving of the measurements in Binary mode with serial triggering

Measurement starts after <1 ms delay, when the <space> is received (115200 baud).

Parameters related to Serial Controlled Binary mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

4 3 B

Control Byte 2

b3

Amplitude Output Enable

0 b6

Millimetre Binary Output (Note 1) **

0 b7

Extended Binary Output (Note 1)

0 4 B

Baud Rate (Note 2)

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
8 B Attenuation

0 - 15

0

11 B Device Number

0 - 9

0

22 B Binary Average ** (In millimetre mode only)

2n

0 - 14

0

Measurement rate: see previous chapter

Note 1: Millimetre or Extended Binary output is not available in high pulse rate versions!

Note 2: If the communication speed is too low it constrains the maximum measurement
speed.

Starting of the Mode according to the parameter 1 (= 4) and toggle the measurements

<esc>M<cr>

<esc>

Binary

Normal

<space>

<space>

<space>

Measurements

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3.6 Capture mode, HW controlled

The value of the P1 is 8.

In capture mode the sensor records 1000 samples into its memory having been activated
by a Digital Input signal and after the recording sends the values in ASCII format to the
serial line.

In HW capture mode the measurement is activated by trigger input line.

Parameters related to HW Controlled Capture measurement mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

8 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

50 - 6000

2000

8 B Attenuation

0 - 15

0

11 B Device Number

0 - 9

0

51 B Control Byte 5

b6

Answer Device Number

0

Note: Analogue output does not work in Capture mode.

3.7 Capture mode, serial controlled

The value of the P1 is 9.

In capture mode with the serial controlling the measurement is activated by sending a
character to serial line.

Parameters related to Serial Controlled Capture measurement mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

9 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

50 - 6000

2000

8 B Attenuation

0 - 15

0

11 B Device Number

0 - 9

0

51 B Control Byte 5

b6

Answer Device Number

0

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3.8 Synchronized Binary mode for CM(P)5x

The synchronized binary mode works with CM5, CMP51 and CMP52 sensors. The
feature requires a special firmware, which is available on request.

The maximum number of sensors is 9. The Synchronized binary mode can be enabled
by setting b6 of Control Byte 4 (Short Output = 1). The serial communication has to be
RS-422.

Sensors are connected to the chain. The digital output of the first sensor is connected to
the digital input of the second etc. and output of the last sensor to input of the first.

Parameters related to Serial Controlled Capture measurement mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

0 3 B

Control Byte 2

b3

Amplitude Output Enable

0 4 B

Baud Rate

1 - 11

10

5,6 W Pulse Rate

Hz

50 - 6000

2000

8 B Attenuation

0 - 15

0

11 B Device Number

0 - 9

1 - 9

50 B Control Byte 4

b6

Short Output

1

The Device Number (P11) of each sensor should be set to 1…9. Number 1 is needed in

the measurement system. The Pulse Rate of the sensor 1 defines the measurement rate.
The value of other sensors should be greater. With equal Pulse Rate values
synchronization can be lost. The minimum Baud Rate is calculated approximately with
the following equation:

BR = 10 x (B+1) x N x PR, where
BR = Baud Rate

B = Bytes per sensor 3 or 4
N = number of sensors
PR = Pulse Rate

The command <esc>C<cr> starts the measurement.

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The output format of synchronized binary mode

First data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

1 h80

Start of the data bytes

x h40

Error bit

0 = Correct distance measurement
1 = Error in distance measurement

x x x x h01

to

h09

Device number (1 – 9)

x x h00

to

h03

Distance Value MSB or Error code

- Distance bits 15 and 14

- Error Code if bit 6 = 1

Second data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Distance Value

- Distance bits 13 to 7

- ‘E’ if error (h45)

Third data byte

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Distance Value

- Distance bits 6 to 0

- ‘R’ if error (h52)

Fourth data byte (only if bit 3 of Control Byte 2 Enabled)

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

0 x x x x x x x h00

to

h7F

Signal Amplitude

- Amplitude divided by 16

- ‘R’ if error (h52)

Distance=128x128 x Distance Value of First Byte + 128 x second byte + third byte [mm]

The maximum distance is 65.5 m.

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4 SPEED MEASUREMENTS

The speed measurement mode using two CM sensors measures vehicle speed, when it
passes both sensors.

Speed measurement mode with single sensor collects distance data from passing vehicle
and calculates speed value from detected distance change. Sensor installation is directly
above the traffic on gantry or on pole on the side of the road (chapter 0). Sensor can be
mounted on the same level with traffic for portable installations and to detect traffic in
several lanes (chapter 4.5).

For single sensor operation, best accuracy is achieved when the sensor measures as far
as possible with reasonable signal level. The distance to the vehicle can be up to 40 to
90 metres, when the register plate is reflective, and up to 30 metres without reflective
register plates. Single sensor measurement operates only with correct distances and
natural size target; it is not possible to test measurement indoors with small scale targets!
In the case indoor tests are required, it is possible to simulate real life targets with a speed
simulator that can be purchased separately.

4.1 Speed measurement mode with two sensors

The values of P1 are following: Sensor 1 P1 = 5 and Sensor 2 P1 = 6.

Fig. 4. Example #1 of speed measurement using two CM3 or CM5 sensors.

Alternatives for Sensor 2 are Case 1 and Case 2:

Case 1

Case 2

Par. 20, 21

Sensor 1

Sensor 2

Digital Out

To

Digital In

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Case 1 in Fig. 4: Sensor 1 is pointing at 10–20 metres, and Sensor 2 is pointing e.g. 5 metres closer.
Sensor 1 is in mode 5 (Trigger window mode) and Sensor 2 in mode 6 (Speed measurement mode with
two sensors). Control Byte 1 b1 must be zero (Trigger Out of Window disabled).

Case 2 in Fig. 4: The Sensor 1 is pointing as in Case 1, and the Sensor 2 is measuring perpendicularly
towards the surface of the road. For Sensor 2 Control Byte 1 b1 should have been set (Trigger Out of
Window enabled).

The user should notice that the vehicle’s height may influence the result as it affects the
triggering moment of the sensor in small angles (for example 0.5 m variation in triggering
point will cause 5-percent alternation in speed results when "Distance for Speed
Measurement" (P20,21) is 10 metres). Using the triggering distance information from the
sensors after each trigger, the user can compensate this error to some extent. (For further
information you may contact Noptel customer support.)

Fig. 5. Example #2 of speed measurement using two CM3 or CM5 sensors.

Both sensors in Fig. 5 are in ‘Trigger Out of Window’ triggering mode (Control Byte 1 b1
is set). This way the height of the vehicle does not affect the speed measurement result.
The distance between the sensors should be long enough compared to the measurement
pulse rate. Typically, with 2000Hz about 2 metres distance gives an accuracy of <3%
error at the speed of 100km/h. Sensors must be well aligned in order that the same point
of the vehicle will trigger both sensors. For more accurate results, a longer distance
between the sensors should be used.

The speed measurement mode using two CM sensors measures vehicle speed, when it
passes both sensors. For the most reliable speed readings sensors should have “Trigger
Out Of window” bit set (P2, b1) and triggering window set to ground ±20 cm. The first
sensor is set into Trigger window mode (5) and the second sensor into Speed
measurement mode with two sensors (mode 6). The sensors are linked by connecting
the trigger output signal of the first sensor to the digital input of the second sensor. After
set up only the second sensor is needed to be connected to the PC.

Sensor 1

Par. 20, 21

Sensor 2

Digital Out

to

Digital In

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During speed measurement the first sensor sends a trigger signal to the second sensor.
Then second sensor waits its own trigger activation and calculates the speed using the
time between the trigger 1 and trigger 2 and distance between the two measurement
points. This distance is defined by the P20 and P21; unit is 1 cm.

Another way to use the speed mode with two sensors is to mount the sensors on the side
of the road and activate normal triggering window ('Trigger Out of Window' OFF [Control
Byte 1, b1 to 0]). The distance to vehicles should be more than four metres in order to get
the most reliable results from several kinds of surfaces.

After setting up the system, a data collection PC needs only to be connected to the second
sensor.

Note: In this mode the sensor sends an “OK” message every minute, if it is functional.

Parameters related to Speed measurement mode with two sensors are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode (2nd sensor)

6 2 B

Control Byte 1

b0

Profile Measurement

0 b1

Trigger Out Window

0 b7

Vehicle Length

0 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
8 B Attenuation

0 - 15

0

12,13

W

Trigger Distance

cm

0 - 38000

14 B Trigger Window Width

dm

1 - 255

15 B Hits For Trig

smpls

0 - 255

10

16 B Trigger Delay

0.5 ms

0 - 255

0

17 B Trigger Length

Note 1

0 - 255

4

18 B Clear Check Time

10 ms

0 - 255

30

20,21

W

Distance For Speed Measurement

cm

0 - ?

0

26 B Control Byte 3

b6

Enable ASCII Profile

0 b7

Vehicle Height (Note 2)

0

Note1: The unit is ticks (measurements) for CM(P)3 and milliseconds [ms] for CM(P)5x.
Note2: Vehicle Height measurement can be enabled only if Vehicle Length measurement (P2 b7) is set.

4.1.1 Vehicle length and height

In such a set-up as shown in the Fig. 5, the second sensor may also calculate the length
and height of the vehicle. Set b7 of Control Byte 1 (P2) to enable length output. Setting
b7 in Control Byte 3 (P26) will enable height output. Notice that the height function does
not operate separately without the length function.

Notice! In Speed measurement mode, the sensor can give vehicle profile
information when length is enabled. Set b0 and b7 of P2 to enable the function. The

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measurement rate can be defined with P29,30 (Hz). The value of P19 (Binary Count)
does not have an effect in this mode.

4.1.2 Output format

The Output of the Sensor is in the following format depending on enabled functions:

4.1.2.1 Result

Answer

Description

Time: 0.152 s

Time interval between detections of sensor

Speed: 51 km/h

Speed in km/h (mph, if bit 2 of par 26 is Set)

Length: 4.9 m (0.35 s)

Length is presented, if bit 7 of par 2 is Set

Height: 1.2 m (05.1 m)

Height is presented, if bit 7 of par 26 is Set

The value 0.35 s is the time the vehicle/target was in the sensor’s measurement area.

Height is calculated from the shortest measured distance during length measurement (in
this case 5.1 m) by subtracting the triggering window distance (P12,13). In this example
the trigger window has been at 6.3 metres (P12,13 = 630).

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4.2 Speed measurement mode with one sensor

The value of the P1 is 7.

Fig. 6. An example of speed measurement using one CMP3 or CMP52 sensor.

The geometry of the measurement is recommended to be >5:1 (please see the Fig. 6):
For example, if the sensor is at 5 m height it should be aimed to at least to 25 m distance
in order to achieve good speed measurement readings.

The speeds of either approaching or departing vehicles can be measured. The selection

of the direction is done by Bit 5 of Control Byte 1. Value “0” is dedicated for approaching
and “1” for departing measurement.

With both driving directions the parameter 37 “Speed Limit” is used to control the trigger
out signal. If the value is 0 the sensor activates the signal for all vehicles and if it is >0
only the vehicles exceeding the speed limit activates the signal. Speed measurement of
departing vehicles can also be done with own speed limit for high vehicles. The height
limit is defined with parameter 39, 40 “Vehicle Height Limit”. Setting of the parameter is
presented in chapter 4.2.2. Adaptive measurement window for departing vehicles. Speed
limit for high vehicles is set by the parameter 36 “Speed Limit Large”.

Control Byte 5 (par 51), Bit 1, “Show Violation Only”, controls the output of the sensor in
speed measurement so that the results are sent only for cases exceeding the Speed Limit
(par 37) or Speed Limit Large (par 36).

1

5

CMP3 or CMP52

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In order to use the mode user must set following parameters:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

7 2 B

Control Byte 1

b5

Speed Behind

0 b7

Vehicle Length (Note 1)

0 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
8 B Attenuation

0 - 15

0

12,13

W

Trigger Distance

cm

0 - 38000

14 B Trigger Window Width

dm

1 - 255

15 B Hits For Trig

smpls

0 - 255

10

16 B Trigger Delay

0.5 ms

0 - 255

0

17 B Trigger Length

Note 2

0 - 255

4

18 B Clear Check Time

10 ms

0 - 255

30

26 B Control Byte 3

b1

Disable Ok Text

0 b2

Speed Output 0: km/h 1: MPH

0 b3

Show Speed Histogram

0 b7

Vehicle Height

0

Note 1: The vehicle length (= Size) is an estimation based on the speed and the time the sensor can get
measurements from a vehicle. This principle generates longer value for higher vehicle than its real length
is.

Note2: The unit is ticks (measurements) for CM(P)3 and milliseconds [ms] for CM(P)5x.

Speed parameters for the speed measurement with one sensor:

No.

Type

Name / Description

Unit

Range

Default

28 B Speed Calculation Window

dm

20 - 40

20

29,30

W

Speed Pulse Rate

Hz

See
Chapter 7.3

3000
31 B Speed Calculation Start

dm

2 - 10

10

32 B Speed Geometry (Note 1)

dm

33 B Speed Result Ctrl (see next paragraphs)

0 - 4

34 B Separation limit

0.1 s

0 - 255

0

35 B Speed Filter Length (35 + value x 5)

0 - 10

5

36 B Speed Limit Large

km/h

37 B Speed Limit

km/h

38 B Speed Accept Limit (behind 2, front 5)

0 - 10

39,40

W

Vehicle Height Limit

cm

200 - 1000

Note 1: Height of the sensor from the triggering point (= Speed Geometry) can be used to compensate
the error caused by the geometry of the measurement set-up. The user can basically adjust the speed
result slightly by using this parameter. The higher the value, the bigger the speed result the sensor
indicates. Speed Geometry parameter may also be used when the sensor is installed on the side of the
road at the level of vehicles to compensate the angle error of the measurement.

Following information may be added to the result:

No.

Type

Name / Description

Unit

Range

Default

2 B Control Byte 1

b0

Profile measurement (CMP52 only)

0

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50 B Control Byte 4

b0

Trigger Time Output

0 b1

Trigger Time Interval

0 b2

Trigger Occupancy Time

0 b4

Count Output

0

51 B Control Byte 5

b0

Separation between vehicles

0 b1

Show Violation Only

0

Note! In this mode the sensor will send the message ”OK” once a minute if the sensor is
functional (the message can be disabled by Bit 1 of Control Byte 3, par. 26).

In the measurement mode using one CMP3 or CMP52 sensor, firstly the trigger is
activated in the trigger window, and secondly the measuring of the distance to the target
in the selected window starts and the speed of the target is calculated. The distance to
the vehicle can be up to 40 to 90 metres, when the register plate is reflective, and up to
30 metres without reflective plates.

The accuracy for the speed measurement is better than 1 km/h, when the geometry of
the measurement and the shape of the vehicle do not cause errors in the measurement.
The geometry error can be decreased by using the maximum possible distance that
operates well (depends on the target) and/or by measuring the vehicle from the side of
the road at the same level as the vehicles. In this case the Speed Calculation Window
(par 28) can be 4 to 6 metres (the value of parameter is 40-60). However, if the
measurement geometry is difficult, like when measuring from a bridge, the Speed
Calculation Window length should be as small as 1.5…3 m (corresponding to 20…30
metres triggering distance) to reduce the error caused by shape of the vehicle. In this
case the accuracy is not as good as in measurements at the level of vehicles.

The software calculates two consecutive speed values. First it calculates quickly a rough
speed value by using only some results of the collected data. This value is called
‘QSpeed’. It is used to generate triggering output for speeding vehicles in real time. The
sensor detects the driving direction of the vehicle and compares it to the setting (prm2
bit5). In case driving direction is opposite speed value cannot be calculated and QSpeed
value is set as wrong direction “QSpeed = WD”.

Thereafter the sensor calculates the speed with a more sophisticated algorithm using all
collected data. The calculation may take 100…400 ms depending on the amount of data.
Typically, the time is shorter for faster vehicles as less data is collected on them.

Then these two results are sent to the user. There may be some differences in the results,
because QSpeed shows the level of speed only roughly.

Typically, vehicles that are changing lanes or driving on the side of the lane cause the
biggest errors, because the sensor may measure the speed from the side of the vehicle
or the measuring point may change significantly during measurement. In the cases of
difficult data or poor aiming, the sensor typically indicates “Speed = NA”.

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The result given by the sensor is as follows:

Sensor

CSV

Explanation

T05537

DIST

Vehicle was detected at 55.37 metres

[ELT: 0:00:02.774]

ELT

Option (prm50bit0): Time from the beginning of the
measurement session

[INT: 02.497 s]

INT

Option (prm50bit1): Time between triggers

[CNT: 000002]

CNT

Option (prm50bit3): Number of the triggering

QSpeed = +082

QSPD

Calculated quick speed value [km/h]

[Height = 653]

Height

Option: Available if bit 7 of parameter 26 is enabled. Height
value is the difference between the shortest detected distance to
the vehicle and triggering window maximum.

Speed = +083
km/h (3)

SPD(Q)

Result of a more sophisticated calculation. Value in parenthesis
is the error estimation (0–10).

[Size = 3]

SIZE

Option: Size value that is based on the speed and time the

vehicle was in the sensor’s field of view. Bit 7 of parameter 2

enabled.

[OCC: 127 ms]

OCC

Option (prm50bit2): Time how long the vehicle has been in
Triggering window

Error response is the following; it is given instead of the speed reading: Speed = NA

CSV, control byte 4 bit 6 is set

caption

;DIST;ELT;DIR;QSPD;SPD;Q;Size;OCC;Height;INT;CNT

results

<;03145;0:00:04.735;A;+060;+059.6;0.8;29;01734;305;04.735;0000001;>

Speed calculation method

The measurement is based on distance measurements to the vehicle when it appears in
the selected distance window. The window size is defined in the parameter (par 12). The
measurement starts, when the vehicle comes into the window. The sensor starts the
speed measurement having detected the vehicle and checked the correctness of the
triggering using the same method as in operation mode 5 (Trigger window).

After the trigger activation, the sensor starts to measure the distance to the vehicle.
Measuring continues until the vehicle fulfils the speed calculation window conditions
defined by parameter ‘Speed Calculation Window’ (par. 28). To get an accurate
measurement result the vehicle typically needs to move 2.5 to 4 metres; so, the
measurement phase normally takes 0.1 to 0.4 seconds depending on the speed of the
vehicle.

When all measurements have been stored into the internal memory, the sensor starts to
calculate the speed as follows:

➢ A specified number of samples (typically 50) are selected from the beginning of

the measurement data and the speed and correlation factor are calculated by
using the least square method.

➢ The result of the calculation is saved into the memory, and next samples are

processed at the same time by moving five samples forward in the data. This is
continued until all the data is processed.

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➢ After this all speed values with poor correlation values are rejected as well as

successive results that are not stable.

➢ Then the results are sorted per quality and returned to the user the way they

have selected (Parameter “Speed Result Control”)

4.2.1 User’s control over the speed calculation

The method of seeking the speed value can be controlled by the user with parameter #33
(Speed Result Ctrl) in the following way:

Setting

Method

0

The sensor prefers slower speed components of the data and does not give faulty
speed readings that are too high. This setting also prevents speed measurement if
the measured data is not stable.

1

This prefers speed values that exist in the majority of the measurement data. In the
case of several speed components, it uses the average and will also give data in
more difficult cases. Typically, this setting works well when measuring departing
vehicles.

2

The sensor will indicate “NA” (Not Available) if there is too much variation in the data

about speed components.

3

The sensor indicates an average of all stable enough speed components. This setting
is suitable for statistical data collecting as it typically does not give many NA’s.

4

This setting is designed to be used for approaching vehicles and especially when the
sensor is mounted above the road and distance to the vehicle is less than 30 metres
(works also with >30 m). It prefers higher speed components.

5

Special algorithm recommended for multilane mode. Designed to work with longer
speed calculation windows (4 to 12 meters). (CMP52 only)

6

Hybrid algorithm for multilane mode with variable data sets. Increases detection rate.
Primary algorithm “setting 5” and secondary “setting 0”. Quality value shown in
parenthesis after speed is negative in case of secondary algorithm. (CMP52 only)

4.2.2 Adaptive measurement window for departing vehicles

The sensor includes a possibility to move the measurement window up when a large/tall
vehicle is detected. This function helps to get valid measurement data also from higher
vehicles. Fig. 7 illustrates the movement of the window and how the parameters affect.

Notice that even though the measurement window is moved, the triggering is still given
at the same distance. The moved window only influences the distance of data collecting
for the speed calculation.

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Fig. 7. Adaptive measurement window for departing vehicles

Parameters for Adaptive measurement window function are following:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

7 2 B

Control Byte 1

b5

Speed Behind

1

39,40

W

Vehicle Height Limit

cm

200 - 1000

41,42

W

Window Move For Big Vehicles

cm

Calculation of the adaptive window parameters 39 and 41:

The corresponding sides of similar triangles have lengths that are in the same proportion.
This leads to following equations (see Fig. 7):

H

Ch

Par

Par

h

C

H







39

39

H

Ch

Par

Par

h

C

H







1

1

41

41

By using dimensions in [cm] the values of parameters will have right unit.

Setting of the parameter 39 enables a possibility to have a different measurement window
for larger (higher) vehicles. This function is active in the speed measurement of departing
vehicles (mode 7).

In this case the height value is the difference between the shortest measured value from
the vehicle and the far end of the triggering window. For example, in a set-up where the
sensor locates 6 metres above the road and the maximum distance to vehicles is 30
metres, a 2-metre height limit means a value of 1000 cm. But as the measurement window
does not reach the surface of the road, typically a value of approximately 750 is used.

Sensor (CMP3/52)

Triggering distance

Par 14

Par 39

Moved window

Par 41

Driving direction

Actual Vehicle

height limit

h

Normal window

Par 12

Normal data collecting area

Data collecting area for high vehicles

Par 32

H

C

Height movement of new

data collection point

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The user may check the actual height values of different vehicles by enabling ‘Height’
measurement by bit 7 of parameter 26 and making some test speed measurements. The
size of measurement window movement is defined by the next parameter.

The parameter 41 defines how much the triggering window is moved for large vehicles.
In the setup described with previous parameter values, 200 cm changes the height of the
measurement window by 40 cm. The value of 200 to 250 cm has typically been accurate.

4.2.3 Vehicle profile data

With CMP52 it is possible to acquire distance data together with speed measurement for
accurate profile measurement. Distance data output happens in real time and it is
presented in binary format. Output is activated by setting control byte 1 bit 0. Output
includes pulse counter byte which represents timescale with formula (counter*16)/(pulse
rate). For consistent profile time reading set same value for pulse rate & speed pulse rate.
The output rate is measurement rate / 4.

Distance data format is described in chapter 3.2 Binary format of the distance
measurement except the signal level byte has pulse count reading / 16. The profile data
is shown before vehicle speed data. Vehicle speed information is presented in ASCII
format.

4.2.4 Automatic distance setting of measurement window

The sensor includes a function that helps the user to set up the triggering window at a
correct distance. The function is designed to be used with Speed measurement mode (7),
but can also be used to set up Trigger window mode (5).

Calibration can be done both for approaching and departing vehicles. For approaching
vehicles bit 5 of Control Byte 1 (par. 2) must be cleared. Calibration is started with
command “U”. If calibration is used to set up speed measurement with one sensor, it is
recommended to use a 5-m window size or even bigger if target can be tracked during a
longer distance (this depends on the measurement geometry). Otherwise the user may
define the size of the window best suited for their application.

To calibrate the window for departing vehicles bit 5 of Control Byte 2 (Speed Behind)
must be set. This method is designed to be used to set up a ‘single sensor speed
measurement’ system for departing vehicles but can be used to set up triggering window
as well. A complete calibration cycle requires 10 vehicles to pass the measurement area
or a distance reading from the surface of the road.

The calibration mode is activated with command <esc>U<cr>. The sensor will guide the
user through the calibration procedure.

The Sensor provides following information on each detected vehicle (example):

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where numbers 2701 and 3012 mean that the sensor was able to detect the target
(vehicle) within distances of 27.01 m to 30.12 m. Figure 1090 is the average signal level
(scale 0 to about 1300). Max 1276 indicates that the maximum signal level received was
1276 (scale 0…about 1300). #145 indicates that the sensor could capture 145 successful
measurements from the target.

With the help of this data, the sensor can be better aimed. The average and maximum
signal levels should be optimised to be as high as possible.

Note: Remember to complete the calibration again after each adjustment of the sensor
aiming direction!

Calibration can be interrupted by sending <esc> to serial line.

4.3 Continuous Speed mode

The value of the Parameter 1 is 10.

Note! This mode is dedicated for testing purposes only.

Parameters related to Continuous Speed measurement mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

10 4 B

Baud Rate

1 - 10

4 8 B

Attenuation

0 - 15

0

11 B Device Number

0 - 9

0

12,13

W

Trigger Distance

cm

0 - 38000

29,30

W

Speed Pulse Rate

Hz

100 - 4000

2000

51 B Control Byte 5

b6

Answer Device Number

55 B Continuous Speed Average (samples)

x10

0 - 255

10

56 B Continuous Speed Filter

0 - 255

200

In this mode the sensor gives speed values whenever it can detect movement in the
measurement range. The target may move to any direction.

The function of this mode is such that the sensor makes distance measurement all the
time with the averaging value defined in parameter 55 ‘Continuous Speed Average’. The
speed pulse rate used for a single measurement is as defined by parameter 29, 30.

“1 : Detected ->echos from 2701 to 3012 cm, avg signal= 1090 (max 1276)(#145)”,

“2 : Detected ->echos from 2704 to 3011 cm, avg signal= 1060 (max 1276)(#144)”,

……

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An extra filter for successive speed readings can be added by setting a value to parameter
56 ‘Continuous Speed Filter’. Values ranging from 100 to 240 can be applied to achieve
the best performance.

Measurement is realized only for results exceeding the ‘Trigger Distance’ (par 12,13).

For example, if the speed pulse rate is 2000Hz and the average value is 100, the sensor
will do an average distance measurement every 0.05 seconds and gives a speed reading
10 times a second (in case of movement). This means that if the target moves at the
speed of 10 m/s, the sensor gets results once every metre. The user should always
estimate that how long time the target stays in the measurement area and set up the
parameters accordingly in order that several speed values can be calculated.

The format of the speed values is the following:

Where the first value is an unfiltered speed reading [km/h], the second value is a filtered
speed value, and the third one is the distance [m] to the target. Values of 0.0 indicates
the failed speed measurement.

Note: Possible geometrical errors during speed measurement are not compensated.

4.4 Size mode

The value of the Parameter 1 is 11.

In this mode the sensor operates in the same way as in Mode 7, but the accurate speed
measurement algorithm is not used. The mode can be used to get rough classification
data from traffic.

4.5 Multilane speed measurement mode

The value of the Parameter 1 is 12.

The CMP sensor is standing on the side of the road at the level of licence plates of
vehicles and aimed across the road. To reach 4th lane, vehicles must have reflective
license plates. The configuration is only suggested for collecting statistical information,
because the limited maximum range (30-40 metres) forces the angle to vehicles to be too
large for accurate speed measurement.

;Speed;FSpeed;Dist

<; 0.0; 0.0; 0.0;>
<; -5.1; -5.1; 29.1;>
<; -5.0; -5.1; 28.8;>
<; -5.0; -5.1; 28.5;>

…….

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Fig. 8. Example #1 of a multilane configuration.

The multilane mode measures speed from parallel lanes, which may have different
directions of traffic flow. The sensor may also report a size estimation of vehicle on each
lane. The size calculation is based on the time vehicle can be detected, which causes an
effect that a closer vehicle is estimated to be bigger than a far one even though the actual
length of the concerned vehicle is the same. The speed measurement principle itself is
identical to the mode 7 (Single sensor speed measurement mode).

In order to use the mode user must set following parameters:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

12 2 B

Control Byte 1

b5

Speed Behind

0 b7

Vehicle Length

0 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
8 B Attenuation

0 - 15

0

12,13

W

Trigger Distance

cm

0 - 38000

14 B Trigger Window Width

dm

1 - 255

15 B Hits For Trig

smpls

0 - 255

>=10

16 B Trigger Delay

0.5 ms

0 - 255

0

17 B Trigger Length

Note 1

0 - 255

4

18 B Clear Check Time

10 ms

0 - 255

30

26 B Control Byte 3

b1

Disable Ok Text

0 b2

Speed Output 0: km/h 1: MPH

0 b3

Show Speed Histogram

0

43 B Trigger Window End for Multiple Lanes

m

1 - 255

44 B Direction Change Distance

m

0 - 255

0

Note1: The unit is ticks (measurements) for CM(P)3 and milliseconds [ms] for CM(P)5x.

Speed parameters for the road side operation:

No.

Type

Name / Description

Unit

Range

Default

28 B Speed Calculation Window

dm

40 - 50

40

29,30

W

Speed Pulse Rate

Hz

See
Chapter 7.3

2000
31 B Speed Calculation Start

dm

2 - 10

10

CMP

Par. 32

Par. 44

Par. 12, 13

1 2 3

4

Par. 43

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32 B Speed Geometry

dm

33 B Speed Result Ctrl (see next paragraphs)

0 - 4

34 B Separation limit

0.1 s

0 - 255

0

35 B Speed Filter Length (35 + value x 5)

0 - 10

5

37 B Speed Limit

km/h

38 B Speed Accept Limit (behind 2, front 5)

0 - 10

Following information may be added to the result:

No.

Type

Name / Description

Unit

Range

Default

50 B Control Byte 4

b0

Trigger Time Output

0 b1

Trigger Time Interval

0 b2

Trigger Occupancy Time

0 b4

Count Output

0

51 B Control Byte 5

b0

Separation between vehicles

0

Fig. 9. Example #2 of a multilane configuration.

Two lane configuration can have a better measurement geometry compared to four lanes
(smaller angle to vehicles), but nevertheless it is also recommended only for statistical
purposes unless geometry ratio 5:1 can be reached (see mode 7). Notice that in the case
both lanes go to the same direction the parameter 44 must be zeroed or the mode 7 to
be used.

Output of the mode is otherwise identical to mode 7, but before trigger distance line

“T0xxxx” appears a line “Appr.” or “Dep.” referring to the driving direction of the lane where

vehicle was detected.

1

2

CMP

Par. 44

Par. 43

Par. 12, 13

Par. 32

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5 DETECTION MODES

5.1 Trigger window mode

The value of the Parameter 1 is 5.

The command <m> sets the sensor into Trigger window mode, when parameter 1 is set
correspondingly. The sensor does not only send the distance value via serial port, but
gives triggering mark "T" and distance [cm], whenever trigger is activated. Furthermore,
the triggering signal is given to the digital output line according to the parameters.

Note: In this mode an “OK” message will be sent every minute if the sensor is functional
(“OK” text can be disabled by bit 1 of parameter 26).

Parameters related to Trigger window mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

5 2 B

Control Byte 1

b0

Profile Measurement

0 b1

Trigger Out of Window

0 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
8 B Attenuation

0 - 15

0

12,13

W

Trigger Distance

cm

0 - 38000

14 B Trigger Window Width

dm

1 - 255

15 B Hits For Trig

smpls

0 - 255

>= 5

16 B Trigger Delay

0.5 ms

0 - 255

0

17 B Trigger Length

Note 1

0 - 255

4

18 B Clear Check Time

10 ms

0 - 255

30

19 B Binary Count

x100

0 - 255

26 B Control Byte 3

b1

Disable Ok Text

0 b6

Enable ASCII Profile

0

29,30

W

Profile Pulse Rate (Note 2)

Hz

See
Chapter 7.3

3000
50 B Control Byte 4

b0

Trigger Time Output

0 b1

Trigger Time Interval

0 b2

Trigger Occupancy Time

0 b4

Count Output

0

Note1: The unit is ticks (measurements) for CM(P)3 and milliseconds [ms] for CM(P)5x.
Note 2: Parameter 29 is the same as ‘Speed Pulse Rate’ in Speed measurement modes.

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Fig. 10. Trigger Distance and Trigger Window Width in Trigger Window Mode

Fig. 11. Timing of the Digital output in Trigger Window Mode

The sensor measures at a selected measurement rate the distance to the target. If the
selected number of measurements (par 15) are detected inside the window (par 14 [dm])
in the selected distance (par 12, 13 [cm]), the Sensor sends a trigger signal of selected
length (par 17) to the digital output line and an ASCII character "T" to the communication
port. During the triggering pulse the sensor does not detect any new targets.

New detection will start, when the sensor has not detected objects in the triggering
window during the clear check time (par 18).

The sensor includes a function to help the user to set up the proper triggering distance.
This function is described in Chapter 4.2.4 Automatic distance setting of measurement

window.

5.1.1 In window and Out of window triggering

The trigger window mode has two alternative operation principles. Normally the trigger
signal is given when target is detected in the specified window. But if bit 1 of Control Byte
1 “Trigger Out of Window” is selected, the trigger signal will be given at the moment
measurements come outside of the specified window and also in case of failed
measurements.

The Out of Window triggering mode can be used for example if sensor is assembled to
such a location that it can always detect ground (or road) and user want to get exact
timing information regarding the incoming vehicle. Furthermore, this mode enables
possibility to get continuous trigger signal as long as the vehicle stays in the measurement
beam, even when the beam is reflected so that sensor is not able to get distance

Trigger Distance

(par. 12, 13 [cm])

Trigger Window Width

(par. 14 [dm])

Digital Output

Trigger Delay

(par. 16)

Trigger Legth

(par. 17)

Clear Check Time

(par. 18)

Detection of a target

Detection

Ready for new detection

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measurements from the vehicle (In this case set identical value to parameters #15 “Hits

For Trig” and #17 “Trigger Length”. Also set zero to parameter #18 “Clear Check Time”.)

5.1.2 Trigger count and timing information

The user can get different timing information, such as the trigger event time, time between
trigger events, and trigger occupancy time. The sensor can also be set to count the
triggers.

The trigger event time is the elapsed time from the start of the trigger mode to the
triggering moment. This function is enabled by setting bit 0 of Control Byte 4 (par #50).

Time between trigger events is enabled by setting bit 1 of Control Byte 4 (par #50).

The trigger occupancy time is the time the target is inside the triggering window. It is
enabled by bit 2 of Control Byte 4 (par #50).

Trigger counting can be enabled by bit 4 of Control Byte 4 (par #50).

If all the above-mentioned functions are enabled, the output of the trigger event looks
the following:

Output

Comment

T01234

Target was detected at 12.34 m

ELT: 0:00:09.432

Elapsed time h:mm:ss.sss

INT: 02.321 s

Time from previous trigger in seconds

CNT: 000004

Number of the trigger

OCC: 01017 ms

Time the target was in the triggering window

5.1.3 Profile measurement

After the trigger signal, the sensor can complete a selected number of measurements
(par 19 = 1…255 x 100), or until the target has passed the window (par 19 = 0). The
profile output is activated by setting control byte 1 bit 0. The measurement rate can be
selected by parameter 29, 30 between 50 to 3000 Hz (higher rates are available as an
option). Every fourth distance will be output so the output rate is measurement rate / 4.

The profile measurement results are given in real time and in binary format according to
the chapter 3.2 except the signal level byte has the pulse count number/16. The user
must observe that the serial baud rate is sufficient to carry the data at the selected
measurement rate.

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Fig. 12. An example of a suggested set-up for vehicle profile measurement

Out of window triggering is used (bit 1 of parameter 2 is set).

The user may also select ASCII format output for profile data by selecting bit 6 of
parameter 26. When this bit is selected, the sensor will gather profile measurement
results into the memory and send them to the user having measured the profile. With
ASCII output the baud rate does not affect the results.

The ASCII output format is the following (example):

, where CNT = 860 indicates how many measurements were done. In each line the first
number refers to the sequence number of the measurement and the second one the
distance to the target in centimetres. Having printed all the data, the sensor sends an
“OK” message. Each line ends <cr><lf>.

5.2 Movement trigger mode

The value of the Parameter 1 is 13.

The feature requires a special firmware which is available on request. The sensor can
trigger to the distance change of the target. User may define the size of the window in
which the movement is monitored. In the case where another object is moving at closer
distance trigger is not given.

Sensor

CNT=860

0001 02345
0002 02346
…
0860 02500

OK

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During the start of the mode the sensor measures range to the target to be monitored and
saves the value as reference. After that it continuously monitors the target and gives
trigger if movement is 15 cm or more to any direction (15 cm is a default value that is not
possible to change at the moment). The movement is only monitored inside the area
around target that has size defined by Trigger Window Width (par 14).

NOTE: If a smaller movement than 15 cm is wanted to be detected, user should set-up
normal trigger window mode (or out of window triggering).

Parameters related to Movement Trigger mode are:

No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

13 2 B

Control Byte 1

b1

Trigger Out of Window

0 4 B

Baud Rate

1 - 10

4

5,6 W Pulse Rate

Hz

See
Chapter 7.3

2000
8 B Attenuation

0 - 15

0

12,13

W

Trigger Distance

cm

0 - 38000

14 B Trigger Window Width

dm

1 - 255

15 B Hits For Trig

smpls

0 - 255

>= 5

16 B Trigger Delay

0.5 ms

0 - 255

0

17 B Trigger Length

Note 1

0 - 255

4

18 B Clear Check Time

10 ms

0 - 255

30

19 B Binary Count

x100

0 - 255

26 B Control Byte 3

b1

Disable Ok Text

0

50 B Control Byte 4

b0

Trigger Time Output

0 b1

Trigger Time Interval

0 b2

Trigger Occupancy Time

0 b4

Count Output

0

Note1: The unit is ticks (measurements) for CM(P)3 and milliseconds [ms] for CM(P)5x.

Example: In this example user has set the Trigger Window Width to be 10 (=1 metre)
and aimed the sensor to a door at 9.3 metres. The door can be opened both ways, but it
is closed at the moment. Then mode has been started with command <esc>M13<cr>.

Output of the sensor is following:

Output

Comment

MOVEMENT TRIGGER MODE

Reference distance : 931 cm

Locked to target at 9.31 m

TRIG IN 881- 981 cm

Size of monitored area ±0.5 metres

ESC to EXIT

T00946

Trigger at 9.46 metres, the door opened out

T00916

Trigger at 9.15 metres, the door opened in

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6 TROUBLESHOOTING

6.1 Error table

Code Error Error count

0001 EEPROM R/W : 0

0002 TDC datardy : 0

0004 RX Error : 0

0008 TDC main counter : 0

0010 TDC interpolator : 0

0020 Low battery : 0

0040 Supply voltage! : 0

0080 Invalid value : 0

0100 Unknown command : 0

0200 TDC interp zero : 0

0400 EEPROM/FLASH:CRC? : 0

0800 Voltage error! : 0

1000 APD voltage! : 0

2000 Temperature! : 0

4000 Power consumption! : 0

8000 HV error! : 0

OK

Table is for diagnostic purposes only and it is updated during every power-up of the
sensor. Some errors may occur in certain conditions, like too low supply voltage or too
high/low operating temperature. If the operation of the sensor returns to normal and errors
do not keep increasing, it is safe to continue using the sensor. Otherwise contact Noptel
Oy for further information.

6.2 Explanations of the error codes

Hex

value

Dec
val.

Error

Error Message (selftest)

Explanation

1

1

EEPROM R/W
error

Occurs in “normal mode” when

R/W to eeprom

2

2

No object

!TDC DATARDY ERROR

Distance measurement, no
result because of no echo from
target

4

4

Receiver error

!RECEIVER PROGRAM
ERROR
!TDC STOP OR
RECEIVER ERROR

Receiver ASIC error, internal
check

8

8

TDC counter
error 1

!TDC ERROR
!OSCILLATOR FAILURE

Time to Digital ASIC error,
internal check

10

16

TDC counter
error 2

!TDC START COUNTER
ERROR
!TDC STOP COUNTER
ERROR

Time to Digital ASIC error,
internal check

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6.3 Self-test errors

Sensor check its operational status on power-up, during operation and after receiving
command <esc>V2<cr>. Error messages are listed on the table with explanations.

20

32

Low battery

!Low battery

Input voltage too low, internal
check

40

64

Supply voltage

!UBAT ERROR

Input voltage out of limits,
internal check

80

128

Invalid value

Occurs in “normal mode” when

input is wrong

100

256

Unknown
command

Occurs in “normal mode” when

input is wrong

200

512

TDC counter
error 3

!TDC START OR LASER
TRIGGER ERROR

Time to Digital ASIC error,
internal check

400

1024

EEPROM or
FLASH
Checksum
error

!WALK table error!
Accuracy of cannot be
ensured!
!CODE CHECKSUM
ERROR!

Checksum (CRC-16) doesn’t
match with saved value or
memory area corrupted. internal
check

800

2048

Voltage error

!UDCDC ERROR
!5V ERROR
!VCP ERROR
!VAN ERROR
!UTDC ERROR
!VRX ERROR
!VOSC ERROR
!VTX ERROR

Voltage out of limits, internal
check

1000

4096

APD voltage
error

!UAPD ERROR

Receiver voltage out of limits,
internal check

2000

8192

Temperature

!RX TEMP ERROR
!TX TEMP ERROR
!CP TEMP ERROR

Temperature too high, internal
check

4000

16384

Power
consumption

!POWER
CONSUMPTION ERROR

Power consumption out of
limits, internal check

8000

32768

High Voltage
error

!TXHV ERROR

Laser voltage out of limits,
internal check

Hex

value

Error message

2 !TDC DATARDY ERROR

Time to Digital ASIC error, internal check, both
distance and speed

4

!RECEIVER PROGRAM ERROR

receiver ASIC programming error

4

!TDC STOP OR RECEIVER ERROR

Time to Digital ASIC error

8

!OSCILLATOR FAILURE

Oscillator is not running correctly

8

!TDC ERROR

Time to Digital ASIC error

10

!TDC STOP COUNTER ERROR

Time to Digital ASIC error

10

!TDC START COUNTER ERROR

Time to Digital ASIC error

20

!Low battery

Input voltage too low

40

!UBAT ERROR

Main voltage out of limits

200

!TDC START OR LASER TRIGGER
ERROR

Time to Digital ASIC or laser error

400

!WALK table error! Accuracy of cannot
be ensured!

result compensation table missing from memory

400

!CODE CHECKSUM ERROR!

calculated checksum doesn’t match to saved one

800

!UDCDC ERROR

Input voltage out of limits

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6.4 Errors during measurement

There are some error messages that may arise during operation in modes 5,7&12 which
are listed on the table below.

Message:

Reason/action

!blocked!

Sensors measures object closer than trigger distance
continuously. Operation continuous when blocking target
disappears. Dirty window is one possible cause.

!TOO LOW TEMPERATURE

Temperature warning, doesn’t stop operation

!TOO HIGH TEMPERATURE
!SENSOR FORCED TO
POWERDOWN
!OPERATION HALTED UNTIL
COOLED

Operation continues after cooling

!Please increase baudrate!

Baudrate too low

!Too high pulse rate! Loc = x.
Waiting ESC

contact manufacturer (x = single digit number)

!MISSING COMPENSATION
DATA
!CONTACT MANUFACTURER

Memory corrupted, contact manufacturer

800

!5V ERROR

Internal voltage out of limits

800

!VCP ERROR

Internal voltage out of limits

800

!VAN ERROR

Analog voltage out of limits (CMP3 only)

800

!UTDC ERROR

Internal voltage out of limits

800

!VRX ERROR

Internal voltage out of limits

800

!VOSC ERROR

Internal voltage out of limits

800

!VTX ERROR

Internal voltage out of limits

1000

!UAPD ERROR

Receiver high voltage out of limits

2000

!RX TEMP ERROR

Receiver Temperature too high

2000

!TX TEMP ERROR

Transmitter Temperature too high

2000

!CP TEMP ERROR

Controller Temperature too high

4000

!POWER CONSUMPTION ERROR

Power consumption out of limits

8000

!TXHV ERROR

Laser high voltage out of limits

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7 PARAMETERS

The Sensor includes a user parameter area, which defines the operation of the Sensor.
This parameter area comprises, for example, the definition of the measurement rate,
operation mode, and data transmission mode. There are two parallel parameter areas:
one in permanent memory and the other currently in use in non-permanent memory. The
parameters in permanent memory will be taken into use after power is switched on. You
can modify the parameters in non-permanent memory, and after finishing the
modification, store them into the permanent memory.

7.1 User parameter commands

User parameters can be set by command:

Command from PC

Reply

<esc>T<No.>,<Value><cr>

TOK<cr><lf> or “Invalid Value<cr><lf>”

<esc> ASCII code 27
T Command (ASCII code 84)
No. parameter #1-61 in ASCII format
Value parameter value 0-255 in ASCII format
<cr> ASCII code 13

Example: Set the baud rate to 115200 baud:

Command from PC

Reply

<esc>T4,8<cr>

TOK<cr><lf> (Baud Rate before change)

The parameters in two successive bytes (word) can be set by one command:

Command from PC

Reply

<esc>TW<No.>,<Value><cr>

TOK<cr><lf> or “Invalid Value<cr><lf>”

<esc> ASCII code 27
TW Command
No. parameter #1-61 in ASCII format
Value parameter value 0-65536 in ASCII form
<cr> ASCII code 13

Example: Set the Pulse Rate to 2000 Hz:

Command from PC

Reply

<esc>TW5,2000<cr>

TOK<cr><lf>

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User parameters can be read by command:

Command from PC

Reply

<esc>L<No.><cr>

L00xxx<cr><lf>

<esc> ASCII code 27
L Command (ASCII code 76)
No. parameter #1-61 in ASCII format
<cr> ASCII code 13

xxx Value of parameter

Example: Read the parameter 19:

Command from PC

Reply

<esc>L19<cr>

L00060<cr><lf>

The parameters in two successive bytes (word) can be read by one command:

Command from PC

Reply

<esc>LW<No.><cr>

L00xxx<cr><lf>

<esc> ASCII code 27
LW Command
No. parameter #1-61 in ASCII format
<cr> ASCII code 13

xxx Value of parameter

Example: Read the Word parameter 5:

Command from PC

Reply

<esc>LW5<cr>

L02000<cr><lf>

All available user parameters can be read by command:

Command from PC

Reply

<esc>L<cr>

L0001 00xxx<cr><lf>
L0002 00xxx<cr><lf>
L0003 00xxx<cr><lf>
…

<esc> ASCII code 27
L Command (ASCII code 76)
<cr> ASCII code 13

xxx Values of parameters

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7.2 Permanent memory parameters

Writing parameters into the permanent memory requires special attention.

Permanent memory parameters are protected by a special lock that has to be opened
before changing the parameters. The parameter area is also protected by checksum
calculation. If the checksum is wrong, the sensor does not perform measurements.
Having transferred the user parameters into permanent memory, the sensor automatically
calculates the checksum.

To enable the permanent memory for writing:

Command from PC

Reply

<esc>X<cr> (X, ASCII-code 88, h58)

WR ENABLE<cr><lf>

Parameters are set into the permanent memory by command:

Command from PC

Reply

<esc>S<cr> (S, ASCII-code 83, h53)

SOK<cr><lf>

Parameters can be read from permanent memory by command:

Command from PC

Reply

<esc>P<No.><cr>

P00xxx<cr><lf>

<esc> ASCII code 27
P Command (ASCII code 80)
No. parameter #1-61 in ASCII format
<cr> ASCII code 13

xxx Value of parameter

7.3 Parameter list

The sensor provides three types of parameters. In binary format each bit in the parameter
carries meaning. In byte (8 bit) and word (16 bit) formats the parameter can receive values
from 0 to 255 and from 0 to 65536 respectively.

In the following descriptions, these parameters are marked as:

➢ B = Byte (8 bits)
➢ W = Word (2 bytes)

Note: All parameters are not valid for all software versions.

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No.

Type

Name / Description

Unit

Range

Default

1 B Operation Mode

Value

ASCII mode and Configuration mode

0

ASCII mode, continuous

1

Binary mode, continuous

2

Binary mode, HW triggering

3

Binary mode, Serial triggering

4

Triggering window mode

5

Speed measurement with 2 sensors, 2nd
sensor

6
Speed measurement with one sensor

7

HW controlled Capture mode, 1000 samples
recording, ASCII output

8

RS controlled Capture mode, 1000 samples
recording, ASCII output

9
Continuous Speed Mode

10

Size Mode

11

Multilane or Side of the Road Speed Mode

12

Movement trigger Mode

13 2 B

Control Byte 1 (See Chapter 7.4)

3 B

Control Byte 2 (See Chapter 0)

4 B Baud Rate
1 = 1200 Bd 2 = 2400 Bd

3 = 4800 Bd 4 = 9600 Bd
5 = 19200 Bd 6 = 38400 Bd
7 = 57600 Bd 8 = 115200 Bd
9 = 230400 Bd 10 = 460800 Bd
11 = 921600 Bd

1 – 11
RS-232

max = 8
CM(P)3
max = 10

4

5,6 W Pulse Rate
Laser pulsing rate

- Measuring rate in Binary mode,

- Averaging rate in Normal mode,

- In Capture mode up to 6000Hz can
be used.

- For continuous high-speed
measurement contact manufacturer
for speed option

Hz

50 – 3150
CM3,
CMP3

50 – 5000
CM5
CMP51
CMP52

2000

7 B Averaging
Average calculation of [2n] single shot

measurements to produce the final distance
value. E.g. n = 4 => Average = 16.
Note: Affects in ASCII mode only. Average
calculation affects the final measurement
speed. Sensor also needs some time interval
between every output of the result for serial
communication and internal operations, so
the total result rate is a combination of
parameter settings and this interval.

2n

0 – 14

4

8 B Attenuation
The receiver sensitivity level can be

attenuated by this parameter.
Used for example with retro-reflectors.
0 = maximum sensitivity (natural targets),
15 = maximum attenuation (prisms)

0 - 15

0

9 B Measure Interval

10 ms

0 - 255

0

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Interval to send measurement values to the
serial communication interface in Normal
mode.
Note! Long averaging time may override this
setting.

10 B Measure Acceptance Level
The percentage of valid single shot results is

required for the average calculation to accept
the calculated result. If there is no sufficient
number of accepted values, no result is
given.

%

1 - 100

30
11 B Device Number
Sensors connected to the same serial port

are selected by the device number.
Command format is presented in chapter 1.2.

0 - 9

0
12,13

W

Trigger Distance
Minimum distance value for trigger window

cm

0 - 38000

14 B Trigger Window Width
Window size of triggering, starting from the

value in P12,13

dm

1 - 255

15 B Hits For Trig
Number of accepted measurement values

before activating trigger pulse

smpls

0 - 255

>= 5

16 B Trigger Delay
Delay to activate trigger pulse from the

accepted trigger time.

0.5 ms

0 - 255

0

17 B Trigger Length
Trigger pulse length as a multiplication of

measurement pulses for CM(P)3 and
milliseconds for CM(P)5x.
For example, 2kHz pulsing gives the length
of 0.5ms for each pulse.
Note 1: In the case of ‘Single Sensor Speed’
mode setting Trigger Length = 255 gives the
trigger at the moment of detection (otherwise
it is given at the moment of QSpeed reading)
Note 2: CM(P)3; In the same mode the
minimum length of the trigger is defined by
the time of speed calculation.

CM3:
smpls

CM5:
ms

0 - 255

4

18 B Clear Check Time
Time from the last measurement in the

trigger window required to re-activate
Triggering mode.

10 ms

0 - 255

30

19 B Binary Count
Number of binary results given in profile

measurement after trigger. If set to zero,
measurement ends when window is clear

x100

0 - 255

0

20,21

W

Distance For Speed Measurement
Distance between the first and the second

sensor in the speed calculation with two
sensors

cm

10 -

22 B Binary Average

2n

0 - 14

0

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Parameter is used only if ‘Millimetre output’ of

Control Byte 2 is enabled.

23 B Analogue Output Offset
Starting point for analogue signal.

m

0 - 255

0

24 B Analogue Output Scale
Scale of the analogue signal (12 bit, 4096),

giving the signal accuracy and (measurement
range)
1 = 1mm (Range = 4m),
10 = 1cm (Range = 40m),
100 = 10cm (Range = 400m)

mm

0 - 255

0

25 B Continuous Filter
This parameter is used with continuous

measurement function in ASCII mode
initiated by command ‘C’ or in mode 1.

Filter operates so that the new distance value
is always calculated partly from the previous

one. The fraction of the ‘old’ result used to

calculate the new result is defined by this
parameter divided by 256.

0 - 255

0

26 B Control Byte 3 (See Chapter 7.6)

27 B Zeroing Control of Analogue Output
0 = failed measurement sets analogue output

to zero.
1 = Analogue output is never set to zero.
2 - 17 = Analogue output is set to zero after
1, 2, 4, 8, 16, ..., 32768 measurements

0 - 17

0

28 B Speed Calculation Window
Window width used in speed calculation.

Mode 7 setting typically 20–25 (2-2.5 m)
Mode 12 setting typically 40–80 (4 – 8 m)
Note: Trigger window (par 14) must be larger
than this.

dm

20 - 40

25

29,30

W

Speed Pulse Rate
This measurement frequency is used during

speed acquisition.
Note! The same parameter will define the
profile measurement rate.

Hz

50 – 3150
CM3,
CMP3
50 – 5000
CM5
CMP51
CMP52

3000
31 B Speed Calculation Start

The starting point of speed calculation: This
parameter defines how long a distance from
the triggering point is rejected in speed
calculation.

dm

2 - 10

32 B Speed Geometry
Dimensional offset of the sensor from the line

of movement of the measured object
E.g. height of the Sensor above the road
surface, 55 dm

dm

0 - 255

33 B Speed Result Ctrl
x = 0, prefer low speed components

0 - 6

1

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x = 1, selects the most common speed
x = 2, reject unstable speed value
x = 3, give average speed
x = 4, prefer higher speed components (not
recommended)
x = 5, mode 12 special algorithms, CM5 only
x = 6, hybrid algorithm (x=5 & x=0), CM5 only

34 B Separation limit
In speed measurement modes, the sensor

activates the trigger out signal if the time
between vehicles is shorter than the limit
even speeding is not occurred.

0.1 s

0 - 255

0

35 B Speed Filter Length
This parameter defines how many samples

from the measurement data is filtered to
calculate the single speed sample from
partial data (all data is processed in small
parts).
Used filter length = 35 + value x 5.

0 - 10

5
36 B Speed Limit Large

A speed limit for vehicles higher than defined
by parameter 39.
Notice that it can only be used with above
the road installations and mode 7 (Single
Sensor Speed mode)

km/h

0 - 255

37 B Speed Limit
If the speed limit is zero, hardware triggering

is given always when a vehicle is detected. If
the speed limit is set, the triggering is given
out only for speeding vehicles.
NOTE! The unit is [km/h] even if bit 2 of
parameter 26 is set!

km/h

0 - 255

38 B Speed Accept Limit
Zero: only good data are accepted in speed

measurement
10: data do not have to be so good.
Values bigger than zero can be tested if the
sensor is giving several “NA” readings for
speed.

0 - 10

Behind;
2
Front;
5

39,40

W

Vehicle Height Limit
For adapting speed triggering window and

classification purposes.
Setting of this enables a possibility to have a
different measurement window for larger
(higher) vehicles. This function is active in the
speed measurement of departing vehicles.
In this case the height value is the difference
between the shortest measured value from
the vehicle and the far end of the triggering
window.
For example, in a set-up where the sensor is
6 metres above the road and the maximum
distance to vehicles is 30 metres, a 2-metre
height limit means a value of 1000 cm. But as
the measurement window does not reach the

cm

200 - 1000

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surface of the road, typically a value of
approximately 750 is used.
The user may check the actual height values
of different vehicles by enabling ‘Height’
measurement by bit 7 of parameter 26 and
making some test speed measurements. The
size of measurement window movement is
defined by the next parameter.
! THE FEATURE MAY OPERATE
DIFFERENT WAY IN VARIOUS SOFWARE
VERSIONS. PLEASE CONTACT NOPTEL IF
YOU WANT TO USE IT!

41,42

W

Window Move For Big Vehicles
This parameter defines how much the

triggering window is moved for large vehicles.
In the setup described with previous
parameter values, 200 cm changes the
height of the measurement window by 40 cm.
The value of 200 to 250 cm has typically
been accurate.

cm

100 - 300

43 B Trigger Window End for Multiple Lanes
Defines the maximum distance needed to

cover two or more lanes.

m

1 - 255

44 B Direction Change Distance
Defines a distance which after the direction of

vehicles is opposite.
Driving direction of the first lane is defined by
bit 5 (Speed Behind) of parameter 2.

m

0 - 255

0
45 B Classification window
Operates in mode 7. Defines the shortest

distance for height and length measurement.

dm

1 - 255

45
48,49

W

Fixed Trigger Distance
When set trigger is fixed to this distance

cm

0 - 38000

0

50 B Control Byte 4 (See Chapter 7.7)
Defines output information of the sensor at

the trigger moment.

51 B Control Byte 5 (See Chapter 7.8)

55 B Continuous Speed Average (samples)
Count of samples used in average filter of

speed samples

Note: Used only in ‘CONTINUOUS SPEED’

mode.
(Used to be parameter no. 34 in FW version
earlier than 0.30.xx.)

x10

0 - 255

10

56 B Continuous Speed Filter

A filter of speed results in ‘CONTINUOUS

SPEED’ mode.

Use typically a range of 100–240; a bigger
value denotes more filtering.
The most accurate value should be attained
with several measurements.
(Used to be parameter no. 36 in FW version
earlier than 0.30.xx.)

0 - 255

200

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Note: The parameters return to values saved into the permanent memory at power-ON.

7.4 Control Byte 1

Setting multiple bits ON can be done by writing sum of the bit values to the parameter.

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

2 Control Byte 1 bits

x 1

Profile Measurement

After triggering sensor sends a number of
binary results as defined in chapter 3.2

x 2

Trigger Out Window
Trigger window operates inverted

x 4

Minimum Scanning
Sensor sends the minimum distance value
detected during trigger-in signal (NORMAL
MODE only)

x 8

Single HW Measurement

The sensor sends one value during trigger-in
signal

x 16

HW input Disable

Disables trigger input

x 32

Speed Behind

The sensor measures speed for departing
targets

x 64

Print Speed Data (Development use only)

Enables output of detailed speed
measurement report
NOTE! This bit is cleared at start-up and
reset of the sensor.

x 128

Vehicle Length / Size

Enables output of vehicle length or size in
speed measurement modes 6 and 7.

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7.5 Control Byte 2

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

3 Control Byte 2 bits

x 1

Pointer Enable

x 2

Echo On
Sensor echoes serial commands

x 4

Decimal Enable
Adds one digit to the measurement result to
show 1/10 mm value

x 8

Amplitude Output Enable

Signal strength output ON for distance
measurement

x 16

Limit Range (CM5)

0 = Max distance 380 meters
1 = Max distance appr. 94 meters

Power Down Enable (CM3 12V models)

Note: power up takes 170 ms

x 32

Fast Key Disable

Disables single key commands, like <space>

x 64

Millimeter binary output Enable

x 128

Extended binary output Enable

7.6 Control Byte 3

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

26 Control Byte 3 bits

x 1

Auto Attenuation

(option, contact Noptel for further
information)

x 2

Disable OK Text
Disables once-a-minute given OK text in
modes 3 - 7

x 4

Speed Output
0 = km/h
1 = MPH
Note! Does not affect parameter 37 (Speed
Limit [km/h]) or QSPEED value.

x 8

Show Histogram

All detected speed values of one
measurement are presented if speed is
higher than Speed Limit. The feature may be
used to confirm the accuracy of the speed
measurement.

x 16

Disable Result Output to serial port

Use in case of analogue output only.

x 32

Enable IP Trigger

Sensor with LAN communication electronics
can send trigger frame in LAN - network

x 64

Enable ASCII Profile

Sends profile measurement results in ASCII
format in modes 5 and 6

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x 128

Enable Vehicle Height

Enables height output in mode 6 and 7, when
also bit 7 of parameter 2 is set.

7.7 Control Byte 4

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

50 Control Byte 4 bits

x 1

Trigger Time Output

Time from the beginning of the measurement
session is given

x 2

Trigger Time Interval
Time between triggering moments is given

x 4

Trigger Occupancy Time
Time how long the vehicle has been in
Triggering window is given

x 8

Buffered Result

Used in Synchronized Binary mode only.
The sensor sends the measured distance
result when Digital input is activated.

x 16

Count Output

Number of the triggering is given

x 32

Result Count

The sensor sends the counter value for each
distance result in ASCII modes.

x 64

CSV output (CM(P)5x)
Speed measurement results are given in
Comma separated value format. Enables
Synchronized Binary mode (CM(P)5x)

x 128

CRC-16 Enable

The sensor calculates reverse IBM CRC-16
value for each output line (Polynomial
0xA001). It is sent in two bytes after <cr><lf>.
CM5 models only.

7.8 Control Byte 5

MSB

LSB

No. 7 6 5 4 3 2 1 0 Value

Note

51 Control Byte 5 bits

x 1

Separation between vehicles

Time between vehicles is given

x 2

Show Violation Only
Shows results only for speeding cases

x 4

Reserved

x 8

Reserved

x 16

Reserved

x 32

Reserved

x 64

Answer Device Number

The Device Number is given with the result

x 128

Reserved

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Contact information
Noptel Oy

Address: Teknologiantie 2

FI-90590 Oulu

Finland
Tel.: [phone]
Fax: [phone]
E-mail: [e-mail]
Technical support: Web site: www.noptel.fi

CM Distance Sensors

Configuration and API Guide