RoboSense RS-Bpearl, Руководство пользователя

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RS-Bpearl User Manual
Table 5: DIFOP Packet Definition.
Segment No. Information Offset Length/byte
Header 0 DIFOP header 0 8
Data
1 Motor rotation speed (MOT_SPD) 8 2
2 Ethernet (ETH) 10 22
3 FOV setting 32 4
4 Reserved 36 2
5 Motor phase lock (MOT_PHASE) 38 2
6 Top board firmware version (TOP_FRM) 40 5
7
Bottom board firmware version
(BOT_FRM)
45 5
8 Reserved 50 242
9 Serial number (SN) 292 6
10 Zero angle offset 298 2
11 Return mode 300 1
12 Upper computer compatibility 301 2
13 UTC time (UTC_TIME) 303 10
14 Operation status (STATUS) 313 18
15 Reserved 331 11
16 Fault diagnosis (FALT_DIGS) 342 40
17 GPRMC 382 86
18 Corrected vertical angle 468 96
19 Corrected horizontal angle 564 96
20 Reserved 660 586
Tail 21 Tail 1246 2
Note: The Header (the DIFOP identifier) in the table above is 0xA5, 0xFF, 0x00, 0x5A,
0x11, 0x11, 0x55, 0x55, among which the first 4 byte 0xA5, 0xFF, 0x00, 0x5A is the
sequence to identify the packet.
The tail is 0x0F, 0xF0.
For definition of information registers as well as their usage, please check more details in
Appendix B of this manual.
5.3 UCWP
I/O type: computer writes into the device.
Function: user can reconfigure Ethernet connection, time and some parameters of the
device.
Each UCWP Packet is 1248 bytes long, and is comprised of a 8-byte Header and a
40-byte data field.
The UCWP packet structure is as shown in Table 6 below: