RoboSense RS-LiDAR-16 - UCWP Packet Structure and Parameter Settings

RS-LiDAR-16 User Manual
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which, the first 4 bytes 0xAA, 0x00, 0xFF, 0x11 forms the sequence to identify the packet.
Statement: RS-LiDAR-16 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 Appendix B of this manual for details on Ethernet, Time, Motor Rotation Speed and Motor
Phase Lock. Below is an example to configure the RS-LIDAR-16:
LiDAR IP: 192.168.1.105,
Destination PC IP: 192.168.1.225,
MAC_ADDR: 001C23174ACC
MSOP port: 6688
DIFOP port: 8899
FOV starting angle: 0°
FOV end angle: 120°
Time: 09:45:30:100:200, March 10, 2017
Rotation speed: 600rpm
Motor phase lock: 90 degree
User can reset the above information by following the example in Table 8.
Table 8: Setting of UCWP Packet.
Information
Content
Setting
Length(byte)
Header
0xAA,0x00,0xFF,0x11,
0x22,0x22,0xAA,0xAA
8
Rotate Speed
1200rpm
0x04, 0xB0
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_ADD
R)
001C23174ACC
0x00,0x1C,0x23,
0x17,0x4A,0xCC
6
MSOP Port(port1)
6688
0x1A20
2
MSOP Port(port2)
6688
0x1A20
2