SCIP is a protocol used to communicate with URG.
Commands of SCIP protocols are used to interact with the URG.

SCIP commands are classified as "Sensor information command", "Distance acquisition command" , and "Mode setting command".
Brief explanation of the above types are done here.

• Setting of operation mode
  • "SCIP2.0" ... Change SCIP2.0 mode
  • "TM0", "TM1", "TM2" ... Time stamp mode
  • "SS" ... Change the baudrate
  • "BM" ... Radation of laser.
  • "QT" ... Turn off laser, measurement suspends.
  • "RS" ... Resets parameter, measurement suspends.
  • "CR" ... Change the rotation speed of the motor.

• Obtain status information
  • "VV" ... Acquisition of version information.
  • "PP" ... Acquisition of parameter information.
  • "II" ... Acquisition of status.

• Receive distance data
  • "GD", "GS" ... Acquisition of distance data one at a time.
  • "MD", "MS" ... Acquisition of distance data continuously.