RS-LiDAR-32 User Manual
(3) MAC_ADDR is the LiDAR MAC Address.
(4) port1~port4 signals the number of ports. Port1 is MSOP Port Number of LiDAR for outputting packet
and port2 is the destination PC Port Number for receiving MSOP packet. Port3 is DIFOP Port Number of
LiDAR for outputting packet and port4 is the destination PC Port Number for receiving DIFOP packet.
By default, Port1 and port2 are same, port3 and port4 are same.
B.3 FOV Setting (FOV SET)
Register Description:
Set the horizontal angle range of the device for outputting valid data, FOV_START and FOV_END
adjustment range 0~36000, corresponding angle 0~360°, the data storage format adopts big endian
format. For example: byte1=0x5d, byte2=0xc0, byte3=0x1f, byte4=0x40, so:
FOV_START = 93*256+192=24000
FOV_END = 31*256+64=8000
Indicates that the valid data output has a horizontal angle ranging from 240.00°to 80.00°.
Note: In all above calculation, bytes have been transformed to decimal.
B.4 Motor Phase Offset (MOT_PHASE)
Register description: It can be used to adjust the phase offset of the motor with the PPS together. The
value can be set from 0 to 360. The data storage format adopts big endian format. For example: the
byte1=0x01, byte2=0x0e, so the motor phase should be 1*256+14 = 270.
Note: In all above calculation, bytes have been transformed to decimal.
FOV Setting( 4bytes in total)
Motor Phase Offset(2bytes in total)
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