Communication Interface Manual For NikonTS Rev4

Confidential
Nikon Communication Interface Manual
Nikon DTM Series

Nikon NPL Series
Nikon NPR Series
Nikon Nivo Series
Dec. 2009
Rev.4
NIKON-TRIMBLE Corporation. All rights reserved.
Confidential
History:
Rev.2
2008-Mar-19
Added $LPT, ?LPT for NPR series
Rev.3
2009-Oct-12
Added Nivo series
Rev.4
2009-Dec-8
Modified *!BSE format
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1. Introduction
This manual explains how to connect Nikon Total Stations and external devices by
serial interface.
About hardware and communication software necessary to the
connection are briefly described as well.
2. Interface system
The interface is directed by RS-232C.
External devices must have a RS-232C port.
3. Connecter
3-1.
Interface connecter
Cable side: HR10A-7R-6P
(Hirose Electric Co.)
1
2
6
5
HRS
3
Instrument side: HR10A-7R-6S

(Hirose Electric Co.)
HRS
4
<Pin assignments other than Nivo >

No.
Symbol
Signal name
Direction
RXD
Receiving data*
InstrumentExternal device
TXD
Sending data*
Power**
N/A
NC
Not in use
N/A
GND
Ground
N/A
NC
Not in use
N/A
<Pin assignment for Nivo only>

No.
Symbol
Signal name
Direction
RXD
Receiving data*
TXD
Sending data*
NC
Not in use
N/A
Power**
N/A
GND
Ground
N/A
NC
Not in use
N/A
* Name of the signal is from its action looking at the instrument.

** Power is a connecter to provide electricity to the instrument.
It has nothing to do
with the communication.

(RXD)
(TXD)
High level input voltage: 2.4V
High level output voltage: 515V/3.55.0V
Low level input voltage: 0.6V
Low level output voltage: -15-5V/01.5V
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!!!CAUTION!!!
Connection to the instrument side must follow the pin assignment above.
Misconnection may result in malfunctioning.
-
By connecting RS-232C communication signal from external device and GND

to the pin #1,#2, and #5 on
instrument side, the external device can be
download/upload data to the instrument.

-
Electricity can be provided through pin #3 and #5 on the instrument, even if

the clip-on battery is mounted.
The rated apparent power is DC7.2-11V (4.5
V to 5.2 V for Nivo only), Max 1A.
Not to use the out-of-range power; it may
result in malfunctioning.
3-2.
Connecter on external devices (in case of connection cable)

25 Pin
1
13
Alignment looking at the pin side of the plug

14
25
No.
Symbol
Signal name
Direction
TXD
Sending data*
RXD
Receiving data*
4, 5
CTS, RTS
(connected inside)
6, 20
DSR, DTR
(connected inside)
N/A
Ground
7
GND
* Name of the signal is from its action looking at the external device.
9 Pin
5
Alignment looking at the hole side of the plug

9
No.
Symbol
Signal name
Direction
RXD
Receiving data*
TXD
Sending data*
4,
DSR, DTR
(connected inside)
7,
CTS, RTS
(connected inside)
Ground
5
GND
N/A
* Name of the signal is from its action looking at the external device.
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4. Electrical Characteristics
a) Synchronous Method
: ASYNC
b) Communication Method : Full Duplex

c) Signal logic
: Negative True (1: 0.8V,
d) Signal level
: 9V, standard
d) Baud rate
: 1200/2400/4800/9600/19200/38400
e) Stop bit
: 1 or 2 bit
f) Data length
: 7 or 8 bit
g) Parity
: None/even/odd
5.
5-1.
0: 2.4V)
Nikon Communication commands

Protocol
Protocol is a set of rules applied to the communication in order to receive/send data securely.
It is independent from contents of receiving/sending data.
<Basic Protocol>
+0
+1
+2
+3
---
+n
SOH
Sender
Receiver
STX
Command or
ETX
(01h)
code
code
(02h)
data character
(03h)
Header
Code
Contents
+n+1
+n+2
+n+3
+n+4
BCC
EOT
(04h)
CR
(0dh)
LF
(0ah)
Chk
Trailer
- SOH (01h): Header; Start of the communication

- Sender/Receiver codes:
T: Instrument (Total Station)

R: Data Recorder
C: Other external device

Ex.) When sending data from an external device to the instrument, the code
becomes CT. If outputting data from instrument to an external device, it is
TC.
- Contents:
<Command/Data Protocol>
SOH
(01h)
Sender
code
Receiver
code
STX
(02h)
Command/
Data string
ETX
(03h)
BCC
EOT
(04h)
CR
(0dh)
LF
(0ah)
STX (02h): Start of the command or data string

ETX (03h): End of the command or data string
* ASCII characters should be used in Command/Data string
<Control-code (ACK/NAK) Protocol>

SOH
(01h)
Sender
code
Receiver
code
ACK or
NAK
BCC
EOT
(04h)
CR
(0dh)
LF
(0ah)
ACK = 06h: Permission of communication or success in transmission.

NAK = 15h: Failure in transmission (= request for re-send)
* ACK/NAK control-code doesnt need STX and ETX.
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- BCC: consists of 1-byte characters.

BCC= (S MOD 40h) + 20h
(h = hex)
S in above formulae is the lower one byte of the total sum from Sender
code to ETX (=before BCC).
BCC can be any value between 20h and
5Fh
* Compare the BCC in the received data and the calculated value.
If they are the same, the communication was successfully done.
- EOT: Trailer; End of the communication

The CR/LF is added at the end.
EOT = 04h
5-2.
-
CR
= 0dh
LF
= 0ah
Procedures
When instrument receives a block of data, BCC is checked and ACK is to be returned if the
block was successfully received.
NAK is to be returned if an error is reported.
If a NAK is received by the instrument, then the last block is to be resent by the instrument,
however, the count of NAK is not checked by the instrument, therefore, it is
recommendable to stop sending data by external devices side in such a case in order to
avoid any trouble which may be triggered in the hardware.
No reply (ACK) is required to ACK/NAK.
Receiving Success
<A>
Command/Data
Block-X
<B>
ACK
(END)
Receiving Error
Command/Data
Block-X
NAK
(Resend the same block)

Command/Data
Block-X
ACK
(END)
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5-3.
Commands/Data format
Three types of commands are available;

a) Remote control command: Change function.
Most commands do not follow any data output.
b) Data set command: Set instrument settings such as temperature, pressure etc. No data output follows.
c) Data output command:
Output measured data, setting data etc.
Follows data output.
Keyword
Remote control command
Data set command
Data output command:
Each command consists of a keyword, three characters.

Keyword
($/!/?)
Char-1
Char-2
Char-3
Parameters are added when necessary.

Parameter
An asterisk is added in front of the keyword when the extended command is to be used.
Keyword
*
Char-1
Char-2 Char-3
Parameter
($/!/?)
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5-4.
Command list
a) Remote control commands

Command
$SHV
Remarks
Taking a distance measurement in Precise mode.
Resolution and average of current settings are used in the measurement.
When the Data output after MSR feature is set to ON, the measured data is to be
output in the specified format.
Taking a distance measurement in Normal mode.
Initiate continuous (tracking) distance measurements. (AVE=0)
Resolution is fixed to COARSE mode.
Change displays. The same function as the DSP key on the instrument.
$RHA
Reset horizontal angle to zero.
$BZR
Beep for n x 50msec. (n = Length of the sound; 1~9)
$DON
Set output SD after each measurement feature ON.
$DNX
Set output SD/HA/VA after each measurement feature ON.
$DOF
Cancel $DON and $DNX command.

Set output SD after each measurement feature ON. After this command, SD from
the very first measurement is to be output and $DOF is set automatically.
Set output SD/HA/VA after each measurement feature ON. After this command,
SD/HA/VA from the very first measurement is to be output and $DOF is set
automatically.
$MSR
$TRK
$HTR
$DSN
$DSX
$HAN
Change the display on the instrument to the basic measurement screen (BMS).
$ANG
Change the display on the instrument to the BMS.
$REC
Output the measured data (PT/HT /SD/HA/VA) with 7-digit PT.
$COF
Turn the Lumi-Guide OFF.
$CON
Turn the Lumi-Guide ON.
$LPT
Turn the Laser pointer ON or OFF.
*$REC
Output the measured data (PT/HT /SD/HA/VA) with 16-digit PT.
b) Data Set commands

Command
Remarks
!AVE
Set an average count of the measurement
!PNO
Set a default point number/name
!PSM
Set the prism constant
!T-P
Set the current temperature and pressure
!HAN
Set the horizontal angle (by 7 digits)
!CND
Set a set of initial settings on the instrument

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!BSE
Set station coordinate data (HI & Stn-XYZ) and HT.
!SOD
Set a set of stakeout data (by HA+HD) and jump to the Stakeout screen
!SOC
Set a set of stakeout data (by 9-digit coordinates) and jump to the Stakeout screen
!TGT
Set the type of measuring target (Prism/Sheet or Prism/N-Prism)
*!PNO
Set a point number. (16-digit PT)
*!HAN
Set the current horizontal angle (by 8 digits)
*!SOC
Set a set of stakeout data (by 12-digit coordinates) and jump to the Stakeout screen
*!BSE
Set station coordinate data (HI & Stn-XYZ) and HT. (by 12-digit coordinate)
*!H-T
Set a height of target. (by 7 digits)
C) Data Output Commands

Command
Remarks
?CND
Output a set of initial settings on the instrument
?VAN
Output the current vertical angle (by 9 digits)
?HAN
Output the current horizontal angle (clockwise; by 9 digits)
?HRV
Output the current horizontal angle (counter-clockwise; by 9 digits).
?SDS
Output the current slope distance
?HDS
Output the horizontal distance
?VDS
Output the vertical distance
?PSM
Output the current prism constant value
?PNO
Output the current default point number/name (in 7 digits)
?T-P
Output the current temperature and pressure
?BAT
Output the current battery level
?AVE
Output the average count of measurement
?BSE
Output the current station coordinate (HT/HI/Stn-XYZ) on the instrument
?CDR
Output a coordinate
?SOD
Output a set of stakeout data (by HA+HD)
?SOC
Output a set of stakeout data (by 9-digit Coordinate)
?LPT
Output the status of the Laser pointer.
*?PNO
Output the current default point number/name (16-digit PT)
*?BAT
Output the current battery level (in 16 levels)
*?CDR
Output coordinates (in 12-digit)
*?SOC
Output a set of stakeout data (by 12-digit coordinates)
*?BSE
Output the current station coordinate(HT/HI/Stn-XYZ) (in 12-digit coordinate)
*?H-T
Output the height of target (in 7 digits)
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5-5.
Format of commands
a) Remote control command

$MSR
Input
None
Output
None
Taking a distance measurement in Precise mode.
Remarks
$TRK
Input
None
Output
None
Taking a distance measurement in Normal mode.
Remarks
$HTR
Input
None
Output
None
Initiate continuous distance measurements. (AVE=0)
Resolution is fixed to COARSE mode.
Remarks
$SHV
Input
None
Output
None
Remarks
Change display.
(Same as [DSP] key on the instrument.)
$RHA
Input
None
Output
None
Remarks
Reset the horizontal angle to zero.
$BZR
Input
Output
None
Remarks
$BZRn;
0 : Length (1 to 9)
Beep a tone for Length x 50 msec.
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$DON
Input
None
Output
None
After receiving this command, output SD in the following format upon every
measurement (initiated by $MSR).
Remarks
+ 0
: ""
+ 1
: "S"
+ 2
: "D"
+ 3
: ":"
+ 4-12
: Slope distance data (9-digit distance type)
$DNX
Input
None
Output
None
After receiving this command, output HA/VA/SD in the following format upon each
measurement (initiated by $MSR).
Remarks
+ 0
: ""
+ 1
: "S"
+ 2
: "D"
+ 3
: ":"
+ 4 - 12 : Slope distance data (9-digit distance type)

+ 13
: ""
+ 14
: "H"
+ 15
: "A"
+ 16
: Tilt sensor ON: ":"
Tilt sensor OFF: "#"
Single tilt sensor model: fixed to ":"

17
+ 25
: Horizontal angle data (9-digit angle type)
+ 26
: ""
+ 27
: "V"
+ 28
: "A"
+ 29
30
+ 38
: Vertical angle data (9-digit angle type)
$DOF
Input
None
Output
None
Remarks
Cancel the $DON/$DNX (data output upon every measurement).
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$DSN
Input
None
Output
Remarks
None
Set output SD after each measurement feature ON. After this command, SD from
the very first measurement (initiated by $MSR) is to be output and $DOF is set
automatically.
$DSX
Input
None
Output
Remarks
None
Set output SD/HA/VA after each measurement feature ON. After this command,
SD/HA/VA from the very first measurement (initiated by $MSR) is to be output and
$DOF is set automatically.
$HAN
Input
None
Output
None
Remarks
Return (=change the screen on the instrument) to the BMS.
$ANG
Input
None
Output
Remarks
None
Return (=change the screen on the instrument) to the BMS.
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$REC
Input
None
Output
+ 0
: ""
+ 1
: "P"
+ 2
: "N"
+ 3
: ":"
+ 4 - 10 : Point number (7 digits)

+ 11
: ""
+ 12
: "S"
+ 13
: "D"
+ 14
: ":"
15
+ 23
Slope distance data (9-digit distance type)
+ 24
: ""
+ 25
: "H"
+ 26
: "A"
+ 27
: Single tilt sensor model: fixed to ":"

28
+ 36
+ 37
: ""
+ 38
: "V"
+ 39
: "A"
+ 40
41
+ 49
+ 50
: ""
+ 51
: "H"
+ 52
: "T"
+ 53
: ":"
54
+ 62
Remarks
: Height of target (9-digit distance type)
Output the measured data with 7-digit PT.
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$COF
Input
None
Output
Remarks
None
Turn the Lumi-Guide OFF.
$CON
Input
None
Output
Remarks
None
Turn the Lumi-Guide ON.
$LPT
Input
+0
: 0
OFF
: 1
ON
Output
None
Remark
Turn the Laser pointer ON or OFF.

Laser pointer turn OFF when the input parameter +0 is 0.
Laser pointer turn ON when the input parameter +0 is 1.
*Only the NPR series is effective to this command.
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*$REC
Input
None
Output
+ 0
: ""
+ 1
: "P"
+ 2
: "N"
+ 3
: ":"

+ 20
: ""
+ 21
: "S"
+ 22
: "D"
+ 23
: ":"
24
+ 32
Slope distance data (9 digits distance type)
+ 33
: ""
+ 34
: "H"
+ 35
: "A"
+ 36
: Single tilt sensor model: fixed to ":"

37
+ 45
+ 46
: ""
+ 47
: "V"
+ 48
: "A"
+ 49
50
+ 58
+ 59
: ""
+ 60
: "H"
+ 61
: "T"
+ 62
: ":"
63
+ 71
Remarks
: Height of target (9 digits)
Output the measured data with 16-digit PT.
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b) Data set command

!AVE
Input
+ 0-1
: Number of averaging measurement (00 99)
Output
None
Remarks
Set an average count of the measurement. It is set to [MSR] (or [MSR1]) key only.
!PNO
Input
+ 0-6
: Point number (7 digits)
Output
None
Remarks
Set a default point number/name (7-digit PT)
!PSM
Input
+ 0-3
: Prism constant ("-999" - "999")
Output
None
Remarks
Set the prism constant. It is set to [MSR] (or [MSR1]) key only.
!T-P
Input
+ 0-2
: Air temperature
+ 3
: ""
+ 4-7
: Air pressure
Output
None
Remarks
Set the current temperature and pressure.
!HAN
Input
+ 0-6
: Horizontal angle (7 digits)
Output
None
Remarks
Set the horizontal angle. (in 7 digits)
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!CND
Input
Output
Remarks
+ 0
: Tilt sensor : "O": OFF,
"I": ON
+1
: Dont care
+2 - 3
: Time of main power cut timer
+4 - 5
: Time of EDM power cut timer
+6
: Dont care
+7
: Dont care
+8
: Angle resolution:
+9
: Temp./Press. unit
hPa
mmHg
H: high,
C: normal,
inchHg
"2"
"0"
"1"
"5"
"3"
"4"
+ 10
: Distance unit
M: Meter, N:International-Feet, F:US-Feet
+ 11
: Angle unit
+ 12
: Vertical zero position: V: Zenith, H: Horizon, C: Compass
+ 13
: Coordinates axis:
+ 14
: Coordinates label: X: XYZ label,
+ 15
: C&R correction:
+ 16
: Dont care
+ 17
: Dont care
+ 18
: Distance resolution: S: High precision, L: Low precision
+ 19
: Dont care
D: DMS, G: GON,
X: NEZ order,
M: MIL
Y: ENZ order
N: NEZ (or ENZ) label
O: OFF, I: ON
None
Set a set of initial settings on the instrument
There is no command for C&R coefficient.
!BSE
Input
+0 - 5
+6
: ""
+ 7 - 12 : Height of instrument (6-digit distance type)

+ 13
14
: ""
-
+ 22
: X-coordinate (9-digit distance type)
+ 23
: ""
24
+ 32
: Y-coordinate (9-digit distance type)
+ 33
: ""
34
+ 42
Output
L: low
: Z-coordinate (9-digit distance type)
None
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Remarks
Set station coordinate data (HI & Stn-XYZ) and HT.
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!SOD
Input
+0 - 8
: Height difference (9-digit distance type)
+9
: ""
10
+ 17
: Horizontal angle (8-digit angle type)
+ 18
: ""
19
+ 27
Output
Remarks
: Z coordinate (9-digit distance type)
None
Set a set of stakeout data (by HA+HD). Upon receiving this command, it jumps to the
Stakeout observation screen as well.
!SOC
Input
+0 - 8
: X coordinate (9-digit distance type)
+9
: ""
10
+ 18
: Y coordinate (9-digit distance type)
+ 19
: ""
20
+ 28
Output
Remarks
None
Set a set of stakeout data (by 9-digit coordinates). Upon receiving this command, it
jumps to the Stakeout observation screen as well.
!TGT
Input
Output
Remarks
+0
: P: prism,
R: reflector sheet,
N: reflectorless mode
None
Set the measuring target (Prism or Ref-sheet/Non-Prism).
DTM-500/501/502//350/330/352/332 can be set to P or R
NPL-350/352/332 can be se to P or N
*!PNO
Input
Output
None
Remarks
Set a point number. (16-digit PT)
*!HAN
Input
+0 - 7
: Horizontal angle (8-digit angle type)
Output
None
Remarks
Set the horizontal angle. (in 8 digits)
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*!SOC
Input
+ 0 - 11 : X coordinate (12-digit distance type)

+ 12
13
: ""
-
+ 24
+ 25
: ""
26
+ 37
Output
None
Remarks
Set a set of stakeout data (in 12-digit coordinates) and jump to the Stakeout screen.
*!BSE
Input
+0 - 6
7
:Height of target (7-digit distance type)

:" "
+ 8 - 19
:X-coordinate (12-digit distance type)
+ 20
:" "
+ 21 - 32 :Y-coordinate (12-digit distance type)

+ 33
:" "
+ 34 - 45 :Z-coordinate (12-digit distance type)

Output
None
Remarks
Set station coordinate data (HI & Stn-XYZ) and HT. (in 12-digit coordinates)
*!H-T
Input
+0 - 6
Output
None
Remarks
Set a height of target. (in 7 digits)
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c) Data output command

?CND
Input
None
Output
+0
: "C"
+1
: "N"
+2
: "D"
+3
: ":"
+4
: Tilt sensor: O: OFF
+5
: Fixed as "O"
I: ON
+ 6 - 7 : Set time of main power cut timer

+ 8 - 9 : Set time of EDM power cut timer
+ 10
: Fixed as "R"
+ 11
: Fixed as "S"
+ 12
: Angle resolution: H: High C: Normal L: Low
+ 13
:
Temp./Press. unit
hPa
Remarks
mmHg
inchHg
"2"
"0"
"1"
"5"
"3"
"4"
+ 14
: Distance unit
M: Meter, N:International-Feet, F:US-Feet
+ 15
: Angle unit
+ 16
: Vertical zero position: V: Zenith H: Horizon C: Compass
+ 17
: Coordinates order:
+ 18
: Coordinates label:
+ 19
: C&R correction: O: OFF I: ON
+ 20
: Fixed as "R"
+ 21
: Language :
+ 22
: Distance resolution: S: High L: Low
+ 23
: Fixed as "O"
D: DMS, G: GON,
M: MIL
X: NEZ order Y: ENZ order

X: XYZ label N: NEZ(or ENZ) label
E: English K: Japanese
Output a set of initial settings on the instrument
?VAN
Input
Output
None
+0
: ""
+1
: "V"
+2
: "A"
+3
: Tilt sensor ON: ":", Tilt sensor OFF: "#"
+ 4 - 12 : Vertical angle (9-digit angle type)

Remarks
Output the current vertical angle (in 9 digits)
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?HAN
Input
None
Output
+0
:""
+1
: "H"
+2
: "A"
+3

+ 4 - 12 : Horizontal angle (clockwise, 9-digit angle type)

Remarks
Output the current horizontal angle in clockwise reading (in 9 digits)
?HRV
Input
None
Output
+0
:""
+1
: "H"
+2
: "R"
+3

+ 4 - 12 : Horizontal angle (counter-clockwise, 9-digit angle type)

Remarks
Output the current horizontal angle in counter-clockwise reading (in 9 digits)
?SDS
Input
Output
None
+0
: ""
+1
: "S"
+2
: "D"
+3
: ":"
+ 4 - 12 : Slope distance (9-digit distance type)

Remarks
Output the current slope distance (in 9 digits)
?HDS
Input
None
Output
+0
: ""
+1
: "H"
+2
: "D"
+3
: ":"
+ 4 - 12
: Horizontal distance (9-digit distance type)
Remarks
Output the current horizontal distance (in 9 digits)
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?VDS
Input
Output
None
+0
: ""
+1
: "V"
+2
: "D"
+3
: ":"
+ 4 - 12 : Vertical distance (9-digit distance type)

Remarks
Output the current vertical distance (in 9 digits)
?PSM
Input
Output
None
+0
: "P"
+1
: "S"
+2
: "M"
+3
: ":"
+ 4 - 7 : Prism constant (-999 to 999 mm)

Remarks
Output the current prism constant value
?PNO
Input
Output
None
+0
: "P"
+1
: "N"
+2
: "O"
+3
: ":"

Remarks
Output the current default point number/name (in 7 digits)
?T-P
Input
Output
None
+0
: "T"
+1
: "M"
+2
: "P"
+3
: ":"
+4 - 6
: Temperature
+7
: "P"
+8
: "R"
+9
: "S"
+ 10
: ":"
+ 11 - 14 : Pressure
Remarks
Output the current temperature and pressure.

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?BAT
Input
Output
Remarks
None
+0
: "B"
+1
: "A"
+2
: "T"
+3
: ":"
+4
: 0-5
Output the current battery level
?AVE
Input
Output
Remarks
None
+0
: ""
+1
: "A"
+2
: "V"
+3
: ":"
+4
: "0"
+5 - 6
: Count of measurements to take an average
Output the current AVE count
P24/34
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?BSE
Input
Output
Remarks
None
+0
: ""
+1
: "H"
+2
: "T"
+3
: ":"
+ 4 - 12
: Target height (9-digit distance type)
+ 13
: ""
+ 14
: "H"
+ 15
: "I"
+ 16
: ":"
+ 17 - 25
: Instrument height (7-digit distance type)
+ 26
: ""
+ 27
: "X"
+ 28
: "B"
+ 29
: ":"
+ 30 - 38
+ 39
: ""
+ 40
: "Y"
+ 41
: "B"
+ 42
: ":"
+ 43 - 51
+ 52
: ""
+ 53
: "Z"
+ 54
: "B"
+ 55
: ":"
+ 56 - 64
Output the current station coordinate (HT/HI/Stn-XYZ) on the instrument
P25/34
Confidential
?CDR
Input
Output
Remarks
None
+0
: ""
+1
: "C"
+2
: "X"
+3
: ":"
+ 4 - 12
: X coordinate (9-digit distance type)
+ 13
: ""
+ 14
: "C"
+ 15
: "Y"
+ 16
: ":"
+ 17 - 25
+ 26
: ""
+ 27
: "C"
+ 28
: "Z"
+ 29
: ":"
+ 30 - 38
Output coordinates in 9 digits.
?SOD
Input
Output
Remarks
None
+0
: ""
+1
: "S"
+2
: "V"
+3
: ":"
+ 4 - 12
: Height difference (9-digit distance type)
+ 13
: ""
+ 14
: "S"
+ 15
: "A"
+ 16
: ":"
+ 17 - 24
: Included angle difference (8-digit angle type)
+ 25
: ""
+ 26
: "S"
+ 27
: "H"
+ 28
: ":"
+ 29 - 37
: Difference of horizontal distance
Output a set of stakeout data (by HA+HD)
P26/34
Confidential
?SOC
Input
Output
Remarks
None
+0
: ""
+1
: "S"
+2
+3
: ":"
+ 4 - 12
+ 13
: ""
+ 14
: "S"
+ 15
: "Y"
+ 16
: ":"
+ 17 - 25
+ 26
: ""
+ 27
: "S"
+ 28
: "Z"
+ 29
: ":"
+ 30 - 38
Output a set of stakeout data (by 9-digit Coordinate)
?LPT
Input
None
Output
+0
: L
+1
: P
+2
: T
+3
: :
+4
: 0
Remark
OFF
ON
Output the current Laser pointer status.

Return the output parameter +4 to 0 when the Laser pointer is OFF.
Return the output parameter +4 to 1 when the Laser pointer is ON.
*Only the NPR series is effective to this command.
P27/34
Confidential
*?PNO
Input
Output
Remarks
None
+0
: "P"
+1
: "N"
+2
: "O"
+3
: ":"
+ 4 - 19
: Point number (16 digits)
Output the current default point number/name (16-digit PT)
*?BAT
Input
Output
Remarks
None
+0
: "B"
+1
: "A"
+2
: "T"
+3
: ":"
+4 - 5
: "00" - "16"
Output the current battery level (in 16 levels)
*?CDR
Input
None
Output
+0
: ""
+1
: "C"
+2
: "X"
+3
: ":"
+ 4 - 15
+ 16
: ""
+ 17
: "C"
+ 18
: "Y"
+ 19
: ":"
+ 20 - 31
+ 32
: ""
+ 33
: "C"
+ 34
: "Z"
+ 35
: ":"
+ 36 - 47
Remarks
Output coordinates (in 12-digit)
P28/34
Confidential
*?SOC
Input
Output
None
+0
: ""
+1
: "S"
+2
: "X"
+3
: ":"
+ 4 - 15
+ 16
: ""
+ 17
: "S"
+ 18
: "Y"
+ 19
: ":"
+ 20 - 31 : Y-coordinate (12-digit distance type)

+ 32
: ""
+ 33
: "S"
+ 34
: "Z"
+ 35
: ":"
+ 36 - 47 : Z-coordinate (12-digit distance type)

Remarks
Output a set of stakeout data (by 12-digit coordinates)
P29/34
Confidential
*?BSE
Input
Output
None
+0
: ""
+1
: "H"
+2
: "I"
+3
: ":"
+ 4 - 10
: Instrument height (7-digit distance type)
+ 11
: ""
+ 12
: "X"
+ 13
: "B"
+ 14
: ":"
+ 15 - 26 : X-coordinate (12-digit distance type)

+ 27
: ""
+ 28
: "Y"
+ 29
: "B"
+ 30
: ":"
+ 31 42
+ 43
: ""
+ 44
: "Z"
+ 45
: "B"
+ 46
: ":"
+ 47 - 58 : Z-coordinate (12-digit distance type)

Remarks
Output the current station coordinate(HT/HI/Stn-XYZ) (in 12-digit coordinate)
*?H-T
Input
None
Output
+0
: ""
+1
: "H"
+2
: "T"
+3
: ":"
+ 4 - 10
: Target height (7-digit distance type)
Remarks
Output the height of target (in 7 digits)
P30/34
Confidential
5-6.
Data format Details
1) Angle data format

<9-digit type>
Units
Format
Degree
fDDDMMSSS
DDD: degree, MM: minute, SSS: 0.1 second
Gon
fNNNDDDDD
NNN: integer part, DDDDD: decimal part (5 decimal places)
Mil
fNNNNDDDD
NNNN: integer part, DDDD: decimal part (4 decimal places)
* f: sign, negative shows - , positive shows 0
<8-digit type>
Degree
fDDDMMSS
DDD: degree, MM: minute, SSS: 1 second
Gon
fNNNDDDD
NNN: integer part, DDDD: decimal part(4 decimal places)
Mil
fNNNNDDD
NNNN: integer part, DDD: decimal part(3 decimal places)
<7-digit type>
Degree
DDDMMSS
DDD: degree, MM: minute, SSS: 1 second
Gon
NNNDDDD
NNN: integer part, DDDD: decimal part(4 decimal places)
Mil
NNNNDDD
NNNN: integer part, DDD: decimal part(3 decimal places)
2) Distance data format (Unit: meter)

<12-digit type>
Units
Format
Meters
f NNNNNNNDDDD
NNNNNNN: integer part, DDDD: decimal part(4 decimal places)
Feet
fNNNNNNNNDDD
NNNNNNNN: integer part, DDD: decimal part(3 decimal places)
<9-digit type>
Meters
f NNNNDDDD
NNNN: integer part, DDDD: decimal part(4 decimal places)
Feet
fNNNNNDDD
NNNNN: integer part, DDD: decimal part(3 decimal places)
P31/34
Confidential

<7-digit type>
Units
Format
Meters
f NNDDDD
NN: integer part, DDDD: decimal part(4 decimal places)
Feet
fNNNDDD
NNN: integer part, DDD: decimal part(3 decimal places)
<6-digit type>
Meters
f NDDDD
NNNN: integer part, DDDD: decimal part(4 decimal places)
Feet
fNNDDD
NN: integer part, DDD: decimal part(3 decimal places)
3) Temperature data format

Units
Format
Centigrade/Fahrenhei
fNN
NN: integer
*f: sign (negative shows -,
positive shows 0)
4) Pressure data format (unit hPa)

Units
Format
hPa/mmHg
NNNN
NNNN: integer
inHg
NNND
NNN: integer part, D: decimal part(1 decimal places)
P32/34
Confidential
6.
Communication for SET type Data Recorder

There are three commands prepared for SET.
a) START command (11H): When an instrument receives the START command (11H) from
SET data recorder, it starts measuring and sends SD, VA, HA for every measurement until
receiving END command (12H).
b) END command (12H)
: Cancel the START command.
c) DATA command (00H) : When an instrument receives the DATA command (00H), it
sends the latest data of SD, VA, HA regardless of current situation.
* In case of EDM OFF, DTM-500 sends the last measured data of SD, VA, HA after it receives
START or DATA command.
P33/34
Confidential
7.
SET2Way Emulation
Following commands are supported by Nikon DTM-502/501/350/330/352/332 ,
NPL-350/352/332 and Nivo M series.
Command
501/500/350/330
502/352/332
Note
An exit from HA setout (Gd)
Change mode to Theodolite mode
ACK
ACK
Jumps to the BMS
/B
Set Instruments parameter settings
/Da
Set Instruments coordinates
/Db
Set Distance and HA setout data
/Dc
Set HA to the requested value
/Dd
Set Coordinates of Backsight point
/De
Set HI, HT and T&P data
ACK
/Df
Set Coordinates for setout data
/Dg
Set Coordinate data
Output Instrument ID
Output Instruments parameter settings
Db
Output Distance and HA setout data
De
Output HI, HT, T&P and ppm
Ea
SD/VA/HA measurement
Ec
Tilt angle measurement
Ed
N, E and Z coordinate measurement
Ee
Get HA, VA and tilt (XY) data
Gb
HD set-out measurement
Gd
HA set-out measurement
ACK
Jumps to the Stakeout screen
Gf
SET 2 way, setout VD
ACK
Xa
Single fine measure
Xb
Repeat fine measure, until <12h>
Xc
Single coarse measure
Repeat coarse measure, until <12h>
Change mode to Theodolite mode
ACK
ACK
ACK
ACK
Prism const set on MSR key
Different from ppm(Nikon)
Xd
Xe
Xf
Xg
Xi
Calculate backsight direction
Xk
Set HA clockwise (HAR)
Xl
Delete all coordinates in memory
O:
Supported
-:
Not supported
ACK:
Return ACK only
P34/34
Jumps to the BMS

Communication Interface Manual For NikonTS Rev4

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Communication Interface Manual For NikonTS Rev4

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Confidential

Nikon Communication Interface Manual

Nikon DTM Series

NIKON-TRIMBLE Corporation. All rights reserved.

Added $LPT, ?LPT for NPR series

Added Nivo series

Modified *!BSE format

About hardware and communication software necessary to the

connection are briefly described as well.

External devices must have a RS-232C port.

Instrument side: HR10A-7R-6S

<Pin assignments other than Nivo >

<Pin assignment for Nivo only>

* Name of the signal is from its action looking at the instrument.

with the communication.

High level input voltage: 2.4V

High level output voltage: 515V/3.55.0V

Low level input voltage: 0.6V

Low level output voltage: -15-5V/01.5V

By connecting RS-232C communication signal from external device and GND

instrument side, the external device can be

download/upload data to the instrument.

Electricity can be provided through pin #3 and #5 on the instrument, even if

The rated apparent power is DC7.2-11V (4.5

V to 5.2 V for Nivo only), Max 1A.

Not to use the out-of-range power; it may

Connecter on external devices (in case of connection cable)

Alignment looking at the pin side of the plug

Alignment looking at the hole side of the plug

b) Communication Method : Full Duplex

: Negative True (1: 0.8V,

Nikon Communication commands

- SOH (01h): Header; Start of the communication

T: Instrument (Total Station)

C: Other external device

STX (02h): Start of the command or data string

<Control-code (ACK/NAK) Protocol>

ACK = 06h: Permission of communication or success in transmission.

- BCC: consists of 1-byte characters.

BCC can be any value between 20h and

- EOT: Trailer; End of the communication

NAK is to be returned if an error is reported.

No reply (ACK) is required to ACK/NAK.

(Resend the same block)

Three types of commands are available;

Most commands do not follow any data output.

Output measured data, setting data etc.

Follows data output.

Data set command

Data output command:

Each command consists of a keyword, three characters.

Parameters are added when necessary.

a) Remote control commands

Reset horizontal angle to zero.

Beep for n x 50msec. (n = Length of the sound; 1~9)

Set output SD after each measurement feature ON.

Set output SD/HA/VA after each measurement feature ON.

Cancel $DON and $DNX command.

Change the display on the instrument to the BMS.

Output the measured data (PT/HT /SD/HA/VA) with 7-digit PT.

Turn the Lumi-Guide OFF.

Turn the Lumi-Guide ON.

Turn the Laser pointer ON or OFF.