RoboSense RS-Bpearl, User Manual

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RS-Bpearl User Manual
Appendix B Information Registers
Here are definitions and more details on information registers as mentioned in chapter 5.
B.1 Motor(MOT_SPD)
Motor Speed (2 bytes in total)
Byte No. byte1 byte2
Function MOTOR_SPD
Register description:
(1) This register is used to set the rotation direction and rotation speed.
(2) The data storage format adopts big endian format.
(3) Supported rotation speed:
(byte1==0x04) && (byte2==0xB0) speed 1200rpm, clockwise rotation;
(byte1==0x02) && (byte2==0x58) speed 600rpm, clockwise rotation;
(byte1==0x01) &&(byte2==0x2C) speed 300rpm, clockwise rotation;
If set the value of rotation with other data, the rotation speed of the motor is 0.
B.2 Ethernet(ETH)
Ethernet (26 bytes in total)
Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8
Function LIDAR_IP DEST_PC_IP
Byte No. byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16
Function MAC_ADDR port1
Byte No. byte17 byte18 byte19 byte20 byte21 byte22
Function port2 port3 port4
Register description:
(1) LIDAR_IP is the LiDAR source IP address, it takes 4 bytes.
(2) DEST_PC_IP is the destination PC IP address, it takes 4 bytes.
(3) MAC_ADDR is the LiDAR MAC Address.
(4) port1~port6 signals the number of ports. Port1 and port2 are the
MSOP packet ports, we suggested to set them to the same number.
Port3 and port4 are the DIFOP packet ports, we suggested to set
them to the same number.