RoboSense RS-Bpearl

13
RS-Bpearl User Manual
Table 5: DIFOP Packet Definition.
Segment
No.
Information
Offset
Length/byte
Header
0
DIFOP header
0
8
Data
1
Motor rotation speed (MOT_SPD)
8
2
2
Ethernet (ETH)
10
22
3
FOV setting
32
4
4
Reserved
36
2
5
Motor phase lock (MOT_PHASE)
38
2
6
Top board firmware version (TOP_FRM)
40
5
7
Bottom board firmware version
(BOT_FRM)
45
5
8
Reserved
50
242
9
Serial number (SN)
292
6
10
Zero angle offset
298
2
11
Return mode
300
1
12
Upper computer compatibility
301
2
13
UTC time (UTC_TIME)
303
10
14
Operation status (STATUS)
313
18
15
Reserved
331
11
16
Fault diagnosis (FALT_DIGS)
342
40
17
GPRMC
382
86
18
Corrected vertical angle
468
96
19
Corrected horizontal angle
564
96
20
Reserved
660
586
Tail
21
Tail
1246
2
Note: The Header (the DIFOP identifier) in the table above is 0xA5, 0xFF, 0x00, 0x5A,
0x11, 0x11, 0x55, 0x55, among which the first 4 byte 0xA5, 0xFF, 0x00, 0x5A is the
sequence to identify the packet.
The tail is 0x0F, 0xF0.
For definition of information registers as well as their usage, please check more details in
Appendix B of this manual.
5.3 UCWP
I/O type: computer writes into the device.
Function: user can reconfigure Ethernet connection, time and some parameters of the
device.
Each UCWP Packet is 1248 bytes long, and is comprised of a 8-byte Header and a
40-byte data field.
The UCWP packet structure is as shown in Table 6 below: