RoboSense RS-Bpearl, User Manual

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RS-Bpearl User Manual
Table 6: UCWP Packet Definition.
Segment No. Information 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-Bpearl 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.
Table 7: An Example for corresponding value of Setting.
Information Content Setting Length/byte
Header
0xAA,0x00,0xFF,
0x11,0x22,0x22,
0xAA,0xAA
8
Rotate Speed 600rpm
0x02
0x58
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_ADDR)
001C23174ACC
0x00,0x1C,0x23,
0x17,0x4A,0xCC
6
MSOP Port(port1) 6688 0x1A20 2
MSOP Port(port2) 6688 0x1A20 2
DIFOP Port(port3) 8899 0x22C3 2
DIFOP Port(port4) 8899 0x22C3 2
FOV start angle 0 0x0000 2
FOV end angle 12000 0x2EE0 2