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
6
The RS-LiDAR-32 has a type that uses the aviation connector. The cable length between the LiDAR and
the aviation connector is 1 meter. The specific pins of the aviation connector are defined as follows:
Figure 3: Aviation Plug PIN Number.
4.3 Interface Box Description
The Interface BOX is connected to the RS-LiDAR-32 by default.
The Interface BOX provides indicator LEDs for power, interfaces for power, 100Mbps Ethernet, and
GPS inputs. The DC 5.5-2.1 connector for power input, RJ45 Ethernet connector for RS-LiDAR-32 data
output and SH1.0-6P female connector for GPS input. We have two different appearances for the
Interface BOX, but the interfaces on the box are the same between the two different Interface BOX. (As
shown in Figure 4.)
Note: The default cable of the interface box is 3 meters long, if you have other length requirements please
contact Robosense technical support. Because of the different LiDAR versions, there are two definitions and
levels of the interface box GPS port. The corresponding positions of the interface are as follows:
PIN
Wire Color
Function
1
Red
+12V
2
Yellow
+12V
3
White
GROUND
4
Black
GROUND
5
Green
GPS PULSE
6
Blue
GPS REC
7
Brown
LiDAR Ethernet RX-
8
Brown white
LiDAR Ethernet RX+
9
Orange
LiDAR Ethernet TX-
10
Orange white
LiDAR Ethernet TX+