User Manual LR-1BS35
OMEN-1BS35-202202
6
standard network protocol. The data adopts the Little-endian format,the low byte is in the front,
and the high byte is in the back.
6.1.
Overview
Total length of data packet is 1240 bytes, among which header accounts for 40 bytes, data
returned by laser is 1200 bytes.
Figure 10 Format of point cloud information packet
The total length of the data frame is 1240 bytes, among which:
Frame header: 40 bytes.
Data block: 150×8=1200 bytes.
6.2.
Definition of Header
Total length of data packet is 1240 bytes, among which header accounts for 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 code, expressed in 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 3 Definition of header file
6.3.
Definition of data block
Total length of data packet is 1240 bytes, among which header accounts for 40 bytes, data
returned by laser is 1200 bytes.
