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
18
Motor phase lock: 90 degree
User can reset the above information by following the example in Table 9.
Table 9: Setting of UCWP Packet.
Information
Content
Setting
Length(byte)
Header
0xAA,0x00,0xFF,0x11,
0x22,0x22,0xAA,0xAA
8
Rotate Speed
600 rpm
0x02, 0x58
2
LiDAR IP
(LIDAR_IP)
192.168.1.105
0xC0
0xA8
0x01
0x69
4
Destination PC IP
(DEST_PC_IP)
192.168.1.225
0xC0
0xA8
0x01
0xE1
4
Device MAC
Address(MAC_ADDR)
001C23174ACC
0x00, 0x1C, 0x23,
0x17, 0x4A, 0xCC
6
MSOP Port(port1)
6688
0x1A20
2
MSOP Port(port2)
6688
0x1A20
2
DIFOP Port(port3)
8899
0x22C3
2
DIFOP Port(port4)
8899
0x22C3
2
FOV starting angle
0
0x0000
2
FOV end angle
12000
0x2EE0
2
UTC_TIME
Year:2017
Month:3
Day:10
Hour:9
Minute:45
0x11
0x03
0x0A
0x09
0x2D
10