RoboSense RS-LiDAR-32 - Difop

RS-LiDAR-32 User Manual
17
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 byte long, and is comprised of an 8-byte Header and a 40-byte data field.
The UCWP packet structure is as shown in Table 8 below:
Table 8: UCWP Packet.
No.
Info
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-LiDAR-32 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.
Below is an example to configure the RS-LiDAR-32:
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