User's Manual

Each Block in the Body: 194 bytes

Azimuth

2 bytes

Current reference angle of the rotor

Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8].

Azimuth Angle = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100°

Channel XX 3 bytes 2-byte distance data 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 background

illumination data

Relative brightness of the receiving FOV

Synchronized to the point cloud, but not related to the emitting laser pulse or distance

Table 3.6 Point Cloud UDP Data – Block Definition

Tail

Tail: 22 (+4) bytes

Reserved 5 bytes -

High Temperature Shutdown

Flag

1 byte

0x01 for high temperature; 0x00 for normal operation

When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut down

after 60 s. The flag remains 0x01 during the 60 s and the shutdown period

When the system is no longer in high temperature status, the shutdown flag will be reset to 0x00 and the

system will automatically return to normal operation

Reserved 2 bytes -

Motor Speed 2 bytes speed_2_bytes [15:0] = speed (RPM)

GPS Timestamp 4 bytes Packing time of this data packet, in units of 1 μs

Range: 0 to 1000000 μs (1 s)

Return Mode Information 1 byte 0x37 for Strongest Return mode, 0x38 for Last Return mode, and 0x39 for Dual Return mode

Factory Information 1 byte 0x42 (or 0x43)

UTC 6 bytes Year, month, date, hour, minute, second, decimal digit

UDP Sequence 4 bytes

Added only when UDP sequence is ON

Label the sequence number of Point Cloud UDP packets, 1 to 0xFF FF FF FF in little endian format

Table 3.7 Point Cloud Data UDP Data – Tail