User Guide
Table Of Contents
- 1 Safety Notices
- 2 Introduction
- 3 Product Specifications
- 4 Connections
- 5 Communications Protocols
- 6 GPS Synchronization
- 7 Key characteristics
- 8 Point Cloud
- 9 Laser Channels and Vertical Angles
- 10 Calibrated Reflectivity
- 11 Troubleshooting
- Appendix A ▪ Point Time Calculate
- Appendix B ▪ Information Registers
- B.1 Motor(MOT_SPD)
- B.2 Ethernet(ETH)
- B.3 FOV Setting (FOV SET)
- B.4 Motor Phase Offset (MOT_PHASE)
- B.5 Top Board Firmware (TOP_FRM)
- B.6 Bottom Board Firmware (BOT_FRM)
- B.7 Serial Number(SN)
- B.8 Software Version(SOFTWARE_VER)
- B.9 UTC Time(UTC_TIME)
- B.10 STATUS
- B.11 Fault Diagnosis
- B.12 ASCII code in GPRMC Packet
- B.13 Corrected Vertical Angle (COR_VERT_ANG)
- B.14 Corrected Horizontal Offset Angle (COR_HOR_AN
- Appendix C ▪ RSView
- Appendix D ▪ RS-LiDAR-32 ROS Package
- Appendix E ▪ Dimensions
- Appendix G ▪ How to Distinguish the Port Number of
RS-LiDAR-32 User Manual
5
4 Connections
4.1 Power
When equipped with an interface box, the device requires a voltage range of 9-32 VDC, and 12 VDC is
recommended.
If the interface box is not used for the LiDAR, a regulated 12 VDC must be used. and the V2.0 and later
versions of the LiDAR integrate the wide-voltage function internally, so you can continue to use
9-32VDC.
The power consumption of the device is about 13.5W (typical).
4.2 Electrical Configuration
RS-LiDAR-32 comes with an integral cable(power/data) that is permanently attached to the sensor and
terminates at a standard SH1.25 wiring terminal. Figure 2 illustrates the serial pins and their properties.
To operate RS-LiDAR-32, the user should insert the SH1.25 wiring terminal to the corresponding port on
the Interface BOX.
Figure 2: Wiring Terminal and Serialized PIN.