RoboSense RS-Bpearl

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RS-Bpearl User Manual
Appendix B Information Registers
Here are definitions and more details on information registers as mentioned in chapter 5.
B.1 Motor(MOT_SPD)
Motor Speed (2 bytes in total)
Byte No.
byte1
byte2
Function
MOTOR_SPD
Register description:
(1) This register is used to set the rotation direction and rotation speed.
(2) The data storage format adopts big endian format.
(3) Supported rotation speed:
(byte1==0x04) && (byte2==0xB0) speed 1200rpm, clockwise rotation;
(byte1==0x02) && (byte2==0x58) speed 600rpm, clockwise rotation;
(byte1==0x01) &&(byte2==0x2C) speed 300rpm, clockwise rotation;
If set the value of rotation with other data, the rotation speed of the motor is 0.
B.2 Ethernet(ETH)
Ethernet (26 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
Function
LIDAR_IP
DEST_PC_IP
Byte No.
byte9
byte10
byte11
byte12
byte13
byte14
byte15
byte16
Function
MAC_ADDR
port1
Byte No.
byte17
byte18
byte19
byte20
byte21
byte22
Function
port2
port3
port4
Register description:
(1) LIDAR_IP is the LiDAR source IP address, it takes 4 bytes.
(2) DEST_PC_IP is the destination PC IP address, it takes 4 bytes.
(3) MAC_ADDR is the LiDAR MAC Address.
(4) port1~port6 signals the number of ports. Port1 and port2 are the
MSOP packet ports, we suggested to set them to the same number.
Port3 and port4 are the DIFOP packet ports, we suggested to set
them to the same number.