RoboSense RS-Bpearl

14
RS-Bpearl User Manual
Table 6: UCWP Packet Definition.
Segment
No.
Information
Offset
Length/byte
Header
0
UCWP header
0
8
Data
1
Motor rotation speed
8
2
2
Ethernet
10
22
3
FOV setting
32
4
4
Time
36
10
5
Motor phase lock
46
2
Note: The Header (UCWP identifier) in the table above is 0xAA, 0x00, 0xFF, 0x11,
0x22, 0x22, 0xAA, 0xAA, among which, the first 4 bytes 0xAA, 0x00, 0xFF, 0x11
forms the sequence to identify the packet.
Statement: RS-Bpearl doesn’t RTC system to support operation while power is off. In the
case of no GPS or GPS signal, it is imperative to write time into the device through a
computer, or it will use a default system time for clock.
Refer to Part 2, Section 10 of this manual for details on Ethernet, Time, Motor Rotation
Speed and Motor Phase Lock.
Table 7: An Example for corresponding value of Setting.
Information
Content
Setting
Length/byte
Header
0xAA,0x00,0xFF,
0x11,0x22,0x22,
0xAA,0xAA
8
Rotate Speed
600rpm
0x02
0x58
2
LiDAR IP
(LIDAR_IP)
192.168.1.105
0xC0
0xA8
0x01
0x69
4
Destination PC IP
(DEST_PC_IP)
192.168.1.225
0xC0
0xA8
0x01
0xE1
4
Device MAC Address
(MAC_ADDR)
001C23174ACC
0x00,0x1C,0x23,
0x17,0x4A,0xCC
6
MSOP Port(port1)
6688
0x1A20
2
MSOP Port(port2)
6688
0x1A20
2
DIFOP Port(port3)
8899
0x22C3
2
DIFOP Port(port4)
8899
0x22C3
2
FOV start angle
0
0x0000
2
FOV end angle
12000
0x2EE0
2