YDLIDAR TG Series Скачать руководство пользователя страница 13

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REVISE

Date

Version

Content

2019-05-26

1.0

Compose a first draft

2020-01-15

1.1

Modify the distance solution formula as SI, the protocol and the page

number information

2020-06-09

1.2

Add command of read zero Angle offset

2021-06-02

1.3

Delete motor rotation direction setting and constant frequency setting

Содержание TG Series

Страница 1: ...Shenzhen EAI Technology Co Ltd DOC 01 13 005301 www ydlidar com TGSERIES DEVELOPMENT MANUAL...

Страница 2: ...Messages 3 3 DATA PROTOCOL 4 3 1 Scan Command A5 60 4 3 2 Stop Command A5 65 6 3 3 Device Information A5 90 6 3 4 Health Status A5 91 7 3 5 Zero Angle Deviation A5 93 8 3 6 Scan Frequency Setting A5...

Страница 3: ...uously uses lasers to measure the external environment and outputs it in real time after background processing Stop mode When TG Series runs with an error such as turning on the scanner the laser is o...

Страница 4: ...the command content The system commands issued by TG Series are as follows CHART 1 YDLIDAR TG SERIES SYSTEM COMMAND System Command Description Mode Switching Answer Mode 0 A5 Start 0 60 Start scanning...

Страница 5: ...SSAGE DATA PROTOCOL Start Sign Response Length Response Mode Type Code Content 16bits 30bits 2bits 8bits FIG 3 YDLIDAR TG SERIES SYSTEM MESSAGE DATA PROTOCOL Start sign TG Series s message sign is uni...

Страница 6: ...G Series TG Series goes into scan mode and feeds back point cloud data The reply message is FIG 4 YDLIDAR TG SERIES SCAN COMMAND The 6th byte high 2 is 01 so the response mode takes 0x1 which is a con...

Страница 7: ...int in the sampled data CS 2B Check code The check code of the current data packet uses a two byte exclusive OR to check the current data packet Si 2B Sample data The system test sampling data is the...

Страница 8: ...t 1 to end However XOR satisfies the exchange law and the actual solution may not need to follow the XOR sequence 3 2 Stop Command A5 65 When the system is in the scanning state TG Series always sends...

Страница 9: ...mmand A5 91 to TG Series TG Series will give back the status code of the device The reply message is FIG 11 SCHEMATIC DIAGRAM OF YDLIDAR TG SERIES LIDAR EQUIPMENT HEALTH STATUS MESSAGE According to th...

Страница 10: ...e system scan frequency CHART 5 SCAN FREQUENCY SETTING COMMAND DESCRIPTION Commands Description A509 Increase the current scan frequency of 0 1Hz A50A Reduce the current scan frequency of 0 1Hz A50B I...

Страница 11: ...rotection and stop the lidar This command is a switch command The message of the command is as follows FIG 15 YDLIDARTGSERIESPOWER DOWNPROTECTIONMESSAGE According to the protocol resolution response l...

Страница 12: ...face The user can change the speed of the motor by adjusting the scan frequency See the section on Scan Frequency Setting A5 09 0A 0B 0C for details This section does not elaborate 4 ATTENTION When in...

Страница 13: ...19 05 26 1 0 Compose a first draft 2020 01 15 1 1 Modify the distance solution formula as SI the protocol and the page number information 2020 06 09 1 2 Add command of read zero Angle offset 2021 06 0...