User Guide

RS-LiDAR-16 User Manual
41
Appendix B ▪ Information Registers
Here are definitions and more details on information registers as mentioned in Section 5.
B.1 Motor(MOT_SPD)
Register description:
(1) This register is used to set the rotation direction and rotation speed.
(2) The data storage format adopts big endian format.
(3) Supported rotation speed:
(byte1==0x04) && (byte2==0xB0) speed 1200rpm, clockwise rotation;
(byte1==0x02) && (byte2==0x58) speed 600rpm, clockwise rotation;
(byte1==0x01) &&(byte2==0x2C) speed 300rpm, clockwise rotation;
If set with data other than the above described, the rotation speed of the motor is 0.
B.2 Ethernet(ETH)
Register description:
(1) LIDAR_IP is the LiDAR source IP address. It takes 4 bytes.
(2) DEST_PC_IP is the destination PC IP address. It takes 4 bytes.
MOT_SPD (2 bytes in total)
Byte No.
byte1
byte2
Function
MOTOR
ETH (22 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
LIDAR_IP
DEST_PC_IP
Byte No.
byte9
byte10
byte11
byte12
byte13
byte14
byte15
byte16
Function
MAC_ADDR
port1
Byte No.
byte17
byte18
byte19
byte20
byte21
byte22
Function
port2
port3
port4