RoboSense LiDAR Helios-16P User Manual

RS-Helios-16P User Manual
36
Appendix B Information Registers
Here are definitions and more details on the information registers as mentioned in Section 6.
B.1 Motor Speed (MOT_SPD)
MOT_SPD (2 bytes in total)
Byte No.
byte1
byte2
Function
MOT_SPD
Register description:
(1) This register is used to configure the motor rotation direction and motor speed;
(2) The data storage adopts the big-endian format.
(3) Supported rotation speed:
(byte1==0x04) && (byte2==0xB0): speed 1200rpm, clockwise rotation;
(byte1==0x02) && (byte2==0x58): speed 600rpm, clockwise rotation;
If set with data other than the above described, the rotation speed of the motor is 0.
B.2 Ethernet（ETH）
ETH (22 bytes in total）
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
LIDAR_IP
DEST_PC_IP
Byte No.
byte9
byte10
byte11
byte12
byte13
byte14
byte15
byte16
Function
MAC_ADDR
port1
Byte No.
byte17
byte18
byte19
byte20
byte21
byte22
Function
port2
port3
Port4
Register description:
(1) LIDAR_IP is the source IP address of the LiDAR. It takes 4 bytes
(2) DEST_PC_IP is the IP address of the destination PC. It takes 4 bytes
(3) MAC_ADDR is the LiDAR MAC address.
(4) port1 to port4 are port number information.
port1 is the port for LiDAR to output MSOP packets and port2 is the port for destination PC to
receive MSOP packets. port3 is the port for LiDAR to output DIFOP packets and port4 is the port
for destination PC to receive DIFOP packets. By default, we suggest port1 and port2 to be set the
same, port3 and port4 to be set the same.

RoboSense LiDAR Helios-16P Specifications

General

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