Appendix B The Format Of All Register; Ethernet (Eth) - RoboSense RS-Ruby Lite User Manual

Appendix B The Format of all Register

Here are definitions and more details on information registers as mentioned in Chapter 5.
B.1 Motor Speed (MOT_SPD)
Byte No. byte1
Function MOTOR_SPD
Register description:
(1)This register is used to set the rotation direction and rotation speed.
(2)The data storage format adopts big endian format.
(3)Supported rotation speed:
(byte1==0x04) && (byte2==0xB0) speed 1200rpm, clockwise rotation;
(byte1==0x02) && (byte2==0x58) speed 600rpm, clockwise rotation;
(byte1==0x01) &&(byte2==0x2C) speed 300rpm, clockwise rotation;
If set with data other than the above described, the rotation speed of the motor is 0.
B.2 Ethernet (ETH)
Byte No. byte1 byte2
Function
Byte No. byte9 byte10
Function
Byte No. byte17 byte18
Function Resv.
Register description:
(1)LIDAR_IP is the LiDAR source IP address, it takes 4 bytes.
(2)DEST_PC_IP is the destination PC IP address, it takes 4 bytes.
(3)MAC_ADDR is the LiDAR MAC Address.
(4)port1~port4 signals the number of ports. Port1 is the MSOP packet port, Port2 is the
DIFOP packet port. Port 2 and 4 are reserved. The default port number of PC and LiDAR are
the same.
Motor Speed (2 bytes in total)
byte2
Ethernet (22 bytes in total)
byte3 byte4
LIDAR_IP
byte11 byte12
MAC_ADDR
byte19 byte20
port3
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RS-Ruby Lite Users' Manual
byte5 byte6 byte7
DEST_PC_IP
byte13 byte14 byte15
byte21 byte22
Resv.
byte8
byte16
port1