RoboSense LiDAR RS-Helios-16P - Page 15

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RS-Helios-16P User Manual

The wiring diagram of the Interface Box connection is as shown in the figure below:

Figure 6 Interface Box Connection

To PC Network

To GPS

Interface Box

To power adapter

Main Page

Table of Contents4
Safety Notices7
Helios Series Products8
Product Appearance and Interface9
Product Appearance9
Aviation Plug and Pin Definition9
Interface Box9
Unboxing & Installation12
Standard Package12
Sensor Mounting12
Quick Connection14
Sensor Specifications and Features16
Sensor Specification16
Parameters16
Point Cloud Display17
Coordinate Mapping17
Reflectivity18
Laser Return Modes18
Principle of Laser Return Modes18
Return Mode Flag19
Phase Locking19
Time Synchronization20
GPS Time Synchronization20
The Use of GPS for Time Synchronization20
PTP Time Synchronization21
PTP Wiring Method22
Communication Protocol23
MSOP and DIFOP23
Main Data Stream Output Protocol（Msop24
Header24
Data Blocks25
Device Info Output Protocol（Difop28
Vertical Angles and Exact Point Time Calculation31
Channel Number and Vertical Angle31
Exact Point Time Calculation31
Troubleshooting33
Appendix A Web Interface35
Device Information Screen35
Device Parameter Setting Screen35
Device Diagnostic Screen38
Device/System Upgrade Screen39
Appendix B Information Registers42
Motor Speed (MOT_SPD)42
Ethernet（Eth42
FOV Setting（Fov_Set43
Motor Phase Offset (MOT_PHASE)43
Top Board Firmware Version (TOP_FRM)43
Bottom Board Firmware Version(BOT_FRM)44
Motor Firmware Version(MOT_FRM)44
Software Version(SOF_FRM)44
Corrected Vertical Angle(COR_VERT_ANG)44
Corrected Horizontal Angle46
Serial Number46
Software Version（Software_Ver47
UTC Time（Utc_Time47
Status（Status47
Fault Diagnosis（Falt_Digs48
GPRMC Data Packet-ASCII Code Data Type49
Appendix C Rsview50
Software Features50
Install Rsview50
Set up Network51
Visualize Streaming Sensor Data51
Capture Streaming RS-Helios-16P Data to PCAP File52
Replay Captured Data from PCAP File53
Set Rsview Data Port56
Appendix D RS-Helios-16P ROS&ROS2 Package57
Install Software57
Download & Compile Robosense Lidar Driver Package57
Configure PC IP58
Real Time Display58
View Offline Data59
Appendix E Mechanical Drawings60
Appendix F Sensor Cleaning61
Attention61
Required Materials61
Cleaning Method61

RoboSense LiDAR RS-Helios-16P - Page 15

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