User's Manual
Table Of Contents
- Contents
- Safety Notice
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Phoenix Contact
- Appendix V Nonlinear Reflectivity Mapping
- Appendix VI Certification Info
- Appendix VII Support and Contact
19
3.1.2 UDP Data
All the multi-byte values are unsigned and in little endian format.
■ Ranging Data
Ranging Data: 1240 bytes (10 blocks)
Block 1
Block 2
Block 3
…
Block 10
0xFFEE
0xFFEE
0xFFEE
…
0xFFEE
Azimuth 1
Azimuth 2
Azimuth 3
…
Azimuth 10
Channel 1
Channel 1
Channel 1
…
Channel 1
Channel 2
Channel 2
Channel 2
…
Channel 2
…
…
…
…
…
Channel 40
Channel 40
Channel 40
…
Channel 40
Each block in the Ranging Data: 124 bytes
Field
Bytes
Description
0xFFEE
2
Header, meaningless, 0xFF first
Azimuth
2
Current reference angle of the rotor
Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8]
Azimuth Angle (in degrees) = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100°
Channel XX
3
2-byte Distance
Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8]
Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4
Maximum Distance Value = (2 ^ 16 – 1) * 4 mm = 262.14 m
1-byte Reflectivity
Reflectivity, in percentage (0 to 255%)
NOTE Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks: the odd number block is the last return, and the
even number block is the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block.
The azimuth changes every two blocks.