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RS-Ruby Users’ Manual
7
5 Communication Protocol
RS-Ruby adopts IP/UDP protocol and communicates with computer through gigabit
Ethernet. In this User Guide the length of UDP packet is set up to 1248 byte. The IP
address and port number of RS-Ruby is set in the factory as shown in the Table 2, but can
be changed by user as needed.
Table 2. The IP Address and Port Number Set in the Factory.
IP Address MSOP Port No.
RS-Ruby 192.168.1.200
6699
PC 192.168.1.102
The default MAC Address of each RS-Ruby is already set up in the factory with
uniqueness. In order to establishing the communication between a RS-Ruby and a
computer, the IP Address of the computer should be set at the same network segment.
For instance, IP Address is 192.168.1.X (X can be taken by a value from 1~254), subnet
mask: 255.255.255.0. If the internet setting of the sensor is unknown, please set the
subnet mask as 0.0.0.0, connect the sensor to the computer, and capture UDP packet to
get the information of IP and Port through Wireshark.
The output message from RS-Ruby is called MSOP. The Information of MSOP is shown
as follow
：
Table 3. Overview of the MSOP.
Protocol Abbreviation Function Type Size Interval
Main data Stream
Output Protocol
MSOP
Scan Data Output
UDP 1248 byte ~167 μs
Note: in the following chapters only the valid payload (1248 byte) will be discussed.
5.1 MSOP
I/O type: Device outputs data and computer parses data.
Default port number is 6699.
MSOP packet outputs data information of the 3D environment. Each MSOP packet from
sensor is 1248-byte length and consists of reported distance, calibrated Reflectivity values,
azimuth values and a timestamp in UDP header.
Each MSOP packet payload is 1248-byte length and consists of an 80-byte header and a
1164-byte data field containing 3 blocks of 388-byte data records and a last 4-byte tail.
The basic data structure of a MSOP packet for single return is as shown in Figure 5: