ND (Node Discovery)

This command applies to the XBee/XBee-PRO Zigbee RF Module.

Discovers and reports all devices found in the network after a jittered time delay. For each discovered device, the following information is returned:

MY<CR> (2 bytes) (always 0xFFFE)

SH<CR> (4 bytes)

SL<CR> (4 bytes)

DB<CR> (Contains the detected signal strength of the response in negative dBm units)

NI <CR> (variable, 0-20 bytes plus 0x00 character)

PARENT_NETWORK ADDRESS<CR> (2 bytes)

DEVICE_TYPE<CR> (1 byte: 0 = Coordinator, 1 = Router, 2 = End Device)

STATUS<CR> (1 byte: reserved)

PROFILE_ID<CR> (2 bytes)

MANUFACTURER_ID<CR> (2 bytes)

DIGI DEVICE TYPE<CR> (4 bytes. Optionally included based on NO settings.)

RSSI OF LAST HOP<CR> (1 byte. Optionally included based on NO settings.)

After (NT * 100) milliseconds, the command ends by returning a <CR>. ND also accepts aNI (Node Identifier)as a parameter (optional). In this case, only a device that matches the supplied identifier responds after a jittered time delay. If there are no matching devices, the command returns an ERROR.

If you send ND through a local API frame, the device returns each response as a separate AT_CMD_Response packet. The data consists of the above listed bytes without the carriage return delimiters. The NI string end in a 0x00 null character.

The jittered time delay is based on the NT setting.

The radius of the ND command is set by BH (Broadcast Hops).

A status code of 1 = ERROR is returned if the transmit queue is full. That means there are already four messages queued for transmission. The application is trying to send messages faster than the device can process the requests. The application may either try again later, be redesigned to send messages at a slower rate, or wait for a Tx Status response for a prior message before attempting to send another.

For more information about the options that affect the behavior of the ND command, see NO (Network Discovery Options).

Parameter range

20-byte printable ASCII string

Default

ASCII space character (0x20)