EE 16 frame — 1535 nm C-series ranging modules (7 scanned manuals)
Read from scanned manuals · page-image checked · example checksums re-derived · page citations kept
Commands are `EE 16 LEN 03 CMD [params] SUM`: the header is fixed, the device code is 03, LEN counts the device code, command code and parameters, and the checksum is the low byte of their sum. Pull POWER ON high and wait about 0.3 s before the first command.
Frame layout
帧头 0xEE 0x16（2 字节）| 数据长度 1 字节（= 设备码+命令码+参数的总字节数，2–9）| 设备码 0x03 | 命令码 1 字节 | 参数 0–4 字节 | 校验 1 字节 = 设备码+命令码+参数的算术和取低 8 位。UART-TTL，115200 bps（出厂）/57600/38400/9600，8N1。上电后 POWER ON 默认低，主机拉高后需等约 0.3 s 再发命令。源：手册 p4–p5（扫描件 OCR，170dpi 目检）。
Command set
| Code | Function | Send | Reply | Notes / page |
|---|---|---|---|---|
0x01 | Equipment self-test | EE 16 02 03 01 04 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0x01=0x04 |
0x02 | Single distance measurement | EE 16 02 03 02 05 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0x02=0x05 |
0x03 | Set first/last/multi-target | EE 16 03 03 03 [1 字节参数] CHK | see p5 response table | 参数 1 字节；SUM = 03+命令码+参数之和取低 8 位 |
0x04 | Continuous distance measurement | EE 16 02 03 04 07 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0x04=0x07 |
0x05 | Stop distance measurement | EE 16 02 03 05 08 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0x05=0x08 |
0xA0 | Set baud rate | EE 16 06 03 A0 [4 字节参数] CHK | see p5 response table | 参数 4 字节；SUM = 03+命令码+参数之和取低 8 位 |
0xA1 | Set continuous measurement frequency | EE 16 04 03 A1 [2 字节参数] CHK | see p5 response table | 参数 2 字节；SUM = 03+命令码+参数之和取低 8 位 |
0xA2 | Set minimum gate distance | EE 16 04 03 A2 [2 字节参数] CHK | see p5 response table | 参数 2 字节；SUM = 03+命令码+参数之和取低 8 位 |
0xA3 | Query minimum gate distance | EE 16 02 03 A3 A6 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0xA3=0xA6 |
0xA4 | Set maximum gate distance | EE 16 04 03 A4 [2 字节参数] CHK | see p5 response table | 参数 2 字节；SUM = 03+命令码+参数之和取低 8 位 |
0xA5 | Query maximum gate distance | EE 16 02 03 A5 A8 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0xA5=0xA8 |
0x90 | Query total number of light outputs | EE 16 02 03 90 93 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0x90=0x93 |
0x91 | Query light outputs during this power-on | EE 16 02 03 91 94 | see p5 response table | LEN=2（设备码+命令码）；SUM=0x03+0x91=0x94 |
Timing and rates
p4 · Baud 115200 bps (factory) / 57600 / 38400 / 9600; 8N1; pull POWER ON high then wait ~0.3 s before the first command.
Status codes and errors
p5 · 应答 0x06 = 测距异常（仅当状态异常时在单次/连续测距应答后回传），参数 4 字节。
What the source does not state
Where a manual prints an incomplete reply (for example only 55 for the
LD constant-on acknowledgement), this page reproduces that and stops — it does not pad the frame.
Anything not printed in the manual is absent here on purpose.
These manuals are scans with no text layer. The frame and command bytes above were read from 300 dpi page images (then re-rendered at 170 dpi for a second look), the printed example frames were re-checked against the checksum rule, and the layout is identical across the 7 manuals in this family. The raw OCR text stays offline; only what the page images show is published.
Models covered by this page
Source documents
- LRF0105C · LRF0105C.pdf (6 pages)
- LRF0305C · LRF0305C.pdf (10 pages)
- LRF0306C · LRF0306C.pdf (10 pages)
- LRF0310C · LRF0310C.pdf (14 pages)
- LRF0405C · LRF0405C.pdf (14 pages)
- LRF0612C · LRF0612C.pdf (14 pages)
- LRF0816C · LRF0816C.pdf (14 pages)
Transcription method: these PDFs have no text layer, so this page was built from OCR plus a 170 dpi re-read of the page image. Every example frame was re-derived from the checksum rule the manual prints; a byte that is not legible in the page image is not published.