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.www.velodyne.com SubContractor User’s Manual
Appendix A: RS-232 Serial Overview and Commands

Introduction

This document outlines Velodyne’s SubContractor (SC) RS-232 protocol specification. This
protocol indicates how SC products receive run-time commands from devices such as Creston
Universal Remote Controls.

Com Port Setup

Use standard communications settings: Baud Rate: 9600, Data Bits: 7, Parity: None, Stop
Bits: 1

SC IN and OUT Port Pin Configuration

SC serial ports use a standard configuration that allows direct connection to a PC via a FEMALE
to MALE serial cable. It uses only three pins (Transmit, Receive, Ground).
The pin configurations are:
IN: Pin 2 = Transmit
Pin 3 = Receive
Pin 5 = Ground
OUT: Pin 2 = Receive
Pin 3 = Transmit
Pin 5 = Ground
Runtime Command Format
Byte Number Byte Description Notes
0 ‘#’ Header Character
1to 3 or 4 Command and 3 to 4 ASCII characters see formats below
Parameter Data Case sensitive -CAPS ONLY!
4 or 5 ‘$’ Termination Character (required or
command is ignored)