RoboSense LiDAR RS-Bpearl, Руководство пользователя

Страница: 34 / 83

RS-Bpearl User manual
34
90 degrees, according to the definition of the UCWP Packet and each registers, you can send UDP
packets to LiDAR according to the following table.
Table 5-8 Example Configuration of LiDAR through UCWP
Information Registers Setting Configuration Length (byte
）
Header
0xAA,0x00,0xFF,0x11,0x22,0x
22,0xAA,0xAA
8
Motor 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
LiDAR 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
UTC_Time
Year:2017 Month:3
Day:10 Hour:9
0x11 10