Communication Protocol - RoboSense RS-Ruby Lite User Manual

5 Communication Protocol

RS-Ruby Lite 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 Lite 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.
RS-Ruby Lite
PC
The default MAC Address of each RS-Ruby Lite is already set up in the factory with
uniqueness. In order to establishing the communication between a RS-Ruby Lite 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 Lite is called MSOP. The Information of MSOP is shown
as follow:
Protocol
Main data Stream Output Protocol
Device Information Output Protocol
Note: In the following chapters only the valid payload (1248 byte) will be discussed.
IP Address
192.168.1.200
192.168.1.102
Table 3: Overview of the MSOP.
Abbreviation
MSOP
DIFOP
7
RS-Ruby Lite Users' Manual
MSOP Port No.
6699
Function Type
Scan Data Output UDP
Device Info Output UDP
DIFOP Port No.
7788
Size
1248 byte
1248 byte