RoboSense LiDAR Helios-16P User Manual

RS-Helios-16P User Manual
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information, calibration information, motor operating configuration, operating status, and fault
diagnosis information to users. By reading DIFOP, users can learn specific information of various
parameters of the LiDAR currently in use.
A complete DIFOP packet consists of a synchronization header, data area and a tail. Each DIFOP
Packet is 1248-byte long, including an 8-byte long synchronization header, 1238-byte long data
area and a 2-byte long tail.
The structure of the DIFOP packet is as shown in the table below.
Table 11 DIFOP Packet Structure
Segments
No.
Information Registers
Offset
Length（byte）
Header
0
DIFOP identification header
0
8
Data
1
Motor speed
8
2
2
Ethernet
10
22
3
FOV setting
32
4
4
Reserved
36
2
5
Motor phase lock
38
2
6
Top board firmware version number
40
5
7
Bottom board firmware version number
45
5
8
Bottom board software version
50
5
9
Motor firmware version number
55
5
10
Sensor hardware version number
60
3
11
Web page cgi version number
63
4
12
Top board backup CRC
67
4
13
Bottom board backup CRC
71
4
14
Software app backup CRC
75
4
15
Web page cgi backup CRC
79
4
16
Ethernet gateway
83
4
17
Subnet mask
87
4
18
Reserved
91
201
19
Serial number
292
6
20
Zero angle offset
298
2
21
Return mode
300
1
22
Time Synchronization Mode
301
1
23
Synchronization status
302
1
24
Time
303
10
25
Operating status
313
12
26
Reserved
325
17
27
Fault diagnosis
342
18
28
Whether the code wheel is calibrated
360
1
29
GPS PPS pulse trigger mode
361
1

RoboSense LiDAR Helios-16P Specifications

General

Brand	RoboSense
Model	LiDAR Helios-16P
Category	Robotics
Language	English