RoboSense LIDAR RS-Helios-1615 - Serial Number, Time, and Status Registers

RS-Helios-1615 User Manual
40
B.11 Serial Number(SN）
SN(6 bytes in total)
Byte No.
1byte
2byte
3byte
4byte
5byte
6byte
Function
SN
Similar to the MAC address, it indicates the serial number of the LiDAR with a total of 6 bytes in
hexadecimal.
B.12 Software Version（SOFTWARE_VER）
This register describes the version compatibility of the host computer.
B.13 UTC Time（UTC_TIME）
UTC_TIME (10 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
sec
ns
Byte No.
byte9
byte10
Function
ns
Note: the range of ns is from 0 to 999999999.
B.14 STATUS（STATUS）
STATUS (18 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
Idat1_reg
Vdat
Vdat_12V_reg
Vdat_5V_reg
Byte No.
byte9
byte10
byte11
byte12
byte13
byte14
byte15
byte16
Function
Vdat_2V5_reg
Vdat_APD
Internal debug
Byte No.
17byte
18byte
19byte
20byte
21byte
22byte
23byte
24byte
Function
Internal debug
Byte No.
25byte
26byte
27byte
28byte
29byte
Function
Internal debug
Note:【Value】is the decimal value calculated after the byte at the corresponding position, in big-endian mode,
with the high order first and the low order last.
Register description:
(1) Idat is the current of the LiDAR power supply. The current value is composed of 2 bytes. Current
calculation formula:
SOFTWARE_VER(2 bytes in total)
Byte No.
byte1
byte2
Function
SOFTWARE_VER