Omron B5L, User Manual, Page: 49 / 72

Chapter 4 Command Description
4-12 Get T3D Rotation Angle (8BHex)
3D TOF Sensor Module B5L User's Manual (No. E596)
4-12 Get T3D Rotation Angle (8BHex)
Acquires rotation angles for x, y, and z axes in the rotated Cartesian coordinate system
.

Command (from host to this product)
Synchroniz
ation code
Command
No.
Data length
FEHex 8BHex 00Hex 00Hex

Response (from this product to host)
Synchroniz
ation code
Response
code
Data length Data
FEHex Normal
end: 00Hex 00Hex 00Hex 00Hex 06Hex See below for details
Error:
FFHex to
F0Hex 00Hex 00Hex 00Hex 00Hex
・
Data details
The rotation angles are acquired in the order of x, y, and z as integers (2 bytes)
.
Byte position Data name
0
Rotation angle around x axis
MSB
1 LSB
2
Rotation angle around y axis
MSB
3 LSB
4
Rotation angle around z axis
MSB
5 LSB
Y
Z
X
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