Omron B5L User Manual page 56

Data length
00Hex 04Hex B0Hex
Data block
θ table data
76799
LSB MSB LSB
76799
LSB MSB
・ Data details
The available θ table angle range is: 0≤θ<90 (degrees).
The value stored in the θ table consists of the upper 4 bits of the MSB as the approximate
angle-of-view/angle-of-view judgment values and the lower 12 bits as the 12-bit fixed-point
value of 0≤θ<90 [degrees].
When the upper 4 bits are all "1", the data is outside the angle of view. When they are all
"0", the data is inside the angle of view.
For example, if the data at position 76799 is BE FAHex:
The value is FABEHex, which indicates:
Upper 4 bits FHex: Outside the angle of view (AOV)
Lower 12 bits ABEHex = 2750: 90 x (2750/4096) = 60 [degrees]
BHex
1 0
The available φ table angle range is: 0≤φ<360 (degrees).
The value stored in the φ table consists of the upper 2 bits of the MSB as fixed to 0 and
the lower 14 bits as the 14-bit fixed-point value of 0≤φ<360 [degrees].
For example, if the data at position 76799 is BE 4D 19Hex:
The value is 194DHex, which indicates:
Upper 2 bits: Fixed to 0
Lower 14 bits 194DHex = 6477: 360 x (6477/16384) = 142 [degrees]
4Hex
0 1
The formula for converting θ and φ from fixed-point values to degrees is as follows:
θ [degrees] = 90 x θ [fixed-point value]/4096
φ [degrees] = 360 x φ [fixed-point value]/16384
3D TOF Sensor Module B5L User's Manual (No. E596)
Data block
00Hex
76798 76797
MSB LSB MSB
76798 76797
LSB MSB LSB
LSB
EHex
1 1 1 1
θ value (lower 8 bits)
LSB
DHex
0 0 1 1
φ value (lower 8 bits)
Chapter 4 Command Description
...
Data block
φ table data
...
MSB
76799
FHex
1 0 1 1
Judgement of outside
or inside the AOV
76799
1Hex
0 1 0 0
Fixed
4-19 Get θφ Table (94Hex)
0
LSB
0
LSB
MSB
AHex
1 1 1 0
θ value (upper 4 bits)
MSB
9Hex
0 1 1 0
φ (upper 6 bits)
MSB
MSB
1 0
0 1
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