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
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While setting the device and computer according to this protocol, it is imperative to set all the
information listed in the table above. Addressing or writing in with part of the information will lead to
invalid setting. The function refreshes the moment the correspondent parameter is changed, but the
network parameters only take effect when the next initialization of device is started.
Note: RSVIEW provides the configuration UI, so we suggest to use RSVIEW to configure the RS-LiDAR-32.
When performing the parameter writing process, please keep the power connection for LiDAR and make
sure the parameter writing is done when we want to power off the LiDAR, otherwise there is a risk of
parameter configuring error.
Second:30
Millisecond: 100
Microsecond: 200
0x1E
0x00,0x64
0x00,0xC8
Motor Phase Lock
90
0x005A
2