RoboSense LIDAR RS-Helios-5515 - FOV Setting（Fov_Set; Motor Phase Offset (MOT_PHASE); Top Board Firmware Version (TOP_FRM)

RS-Helios-1615 User Manual
36
B.3 FOV Setting（FOV_SET）
FOV_SET (4 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
Function
FOV_START
FOV_END
Register Description:
Set the azimuth range that the sensor can output valid data, the values of FOV_START and
FOV_END could be any integer between 0 to 36000, corresponding 0~360°, the data storage adopts
the big endian ordering. For example: byte1 = 0x5d，byte2 = 0xc0，byte3 = 0x1f，byte4 = 0x40,
so:
FOV_START = 93*256+192=24000
FOV_END = 31*256+64=8000
Which indicates that the azimuth range for valid data output is from 240.00° to 80.00° in clockwise
direction.
Note: In all above calculations, bytes have been converted from hexadecimal to decimal.
B.4 Motor Phase Offset (MOT_PHASE)
MOT_PHASE(2 bytes in total)
Byte No.
byte1
byte2
Function
MOT_PHASE
Register description:
This register can be used together with the PPS pulse of GPS to adjust the phase offset of the motor
at the top of seconds. The value can be set from 0 to 360 corresponding 0 to 360°. The data storage
adopts the big endian ordering. For example: the byte1=0x01、byte2=0x0e, so the motor phase
should be 1*256+14 = 270.
Note: In all above calculations, bytes have been converted from hexadecimal to decimal.
B.5 Top Board Firmware Version (TOP_FRM)
TOP_FRM(5 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
Function
TOP_FRM
Register description：
This register corresponds to the top board firmware version:
Register value: 00 01 06 05 00
Segmentation of value: 0x0001060500
Top board firmware version: 01060500