User Manual LR-1BS35
OMEN-1BS35-202012
7
6.2.
Definition of Header
Total length of data packet is 1240 bytes, among which header accounts 40 bytes, data
returned by laser is 1200 bytes.
Offset
length
Description
0
4
Identifier, fixed as 0xFEF0010F
4
2
Protocol version, currently 0x0200
6
1
Distance ratio, actual distance value = distance reading × distance ratio
(mm)
7
3
Brand cod, indicate with capitalized letters and numbers, fill in with ‘\0’ in
the end if isn’t long enough.
10
12
sales model string ending with ’\0’
22
2
internal model code
24
2
hardware version
26
2
Software version
28
4
Timestamp, unit: ms
，
32
2
Bit[14:0]: Rotation rate
BIT 15
：
rotation direction
（
0
：
clockwise
，
1
：
anticlockwise
）
34
1
Safe zone status, same as the hardware INPUT/OUTPUT
BIT[3:0]: Same as OUTPUT[3:0]
BIT[7:4]: Same as INPUT[3:0]
35
1
Error status, the corresponding position 1 indicates an error
BIT0: Motor fault, BIT1: Power fault,
BIT2: Temperature fault
36
4
Reserved (detailed meaning to be determined)
Table 4 Definition of header file
6.3.
Definition of Block
Total length of data packet is 1240 bytes, among which header accounts 40 bytes, data
returned by laser is 1200 bytes.
Table 5 Definition of data block
Offset
length
Description
0
2
angle
，
unsigned integer
，
valid range
：
0~35999
Unit :0.01°/LSB
，
indicating range
：
0°~359.99°
Note
：
If this value is greater than or equal to 0xFF00, then this block is
invalid and must be ignored.
2
2
Distance reading, unsigned integer.
The measured distance is determined by the distance ratio of the packet
header, that is, measured distance="the reading value × the distance ratio
of the packet header" (unit: mm).
4
2
Signal strength indicates the strength of the received signal, ranging from
0 to 65535.
6
2
Reserved (detailed meaning to be determined)
