RoboSense LIDAR RS-Helios-1615 - Firmware Versions and Angle Registers

RS-Helios-1615 User Manual
37
B.6 Bottom Board Firmware Version(BOT_FRM)
BOT_FRM(5bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
Function
BOT_FRM
Register description：
This register corresponds to the top board firmware version:
Register value: 00 01 03 01 00
Segmentation of value: 0x0001030100
Bottom board firmware version: 01030100
B.7 Motor Firmware Version(MOT_FRM)
MOT_FRM (5 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
Function
MOT_FRM
Register description:
This register corresponds to the motor firmware version:
Register value: 00 21 11 23 21
Segmentation of value: 0x0021112321
Motor firmware version: 21112321
B.8 Software Version(SOF_FRM)
SOF_FRM (5 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
Function
SOF_FRM
Register description:
This register corresponds to the Software Firmware version:
Register value: 00 22 04 18 01
Segmentation of value: 0x0022041801
Motor firmware version: 22041801
B.9 Corrected Vertical Angle(COR_VERT_ANG)
COR_VERT_ANG(96bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
byte9
Function
Channel 1 vertical angle
Channel 2 vertical angle
Channel 3 vertical angle
Byte No.
byte10
byte11
byte12
byte13
byte14
byte15
byte16
byte17
byte18
Function
Channel 4 vertical angle
Channel 5 vertical angle
Channel 6 vertical angle