Table of Contents
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3
4
5
6
7
8
9
10
11
12
13
SER (symbol error rate) of Magnetic Ring
14
15
16
17
Tail
18
Note:
The Header (the DIFOP identifier) in the table above is 0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11,
0x55, 0x55. This sequence can be used to identify the packet.
The tail is 0x0F,0xF0.
For definition of information registers as well as their usage, please check more details in
Appendix B of this manual.
Port Number of MSOP
Reserved
Port Number of DIFOP
Reserved
FOV of start angle
FOV of end angle
Reserved
Motor Phase Lock
Top Board Firmware Version
Bottom Board Firmware Version
Bottom Board Software Version
Electrical Motor Firmware Version
LiDAR Hardware Version
Reserved
S/N
Correction Value of Zero Angle
Return mode
Time Synchronization Mode
Time Synchronization Status
UTC time
Operation Status
Reserved
Reserve for Fault Diagnose
Number of Start
GPS Status
Temperature Detection
Reserved
Real-time Phase
Real-time Rotation Speed
Reserved
GPRMC
Horizontal Angle Correction
Vertical Angle Correction
Reserved
Tail
12
RS-Ruby Lite Users' Manual
24
2
26
2
28
2
30
2
32
2
34
2
36
2
38
2
40
5
45
5
50
5
55
5
60
3
63
229
292
6
298
2
300
1
301
1
302
1
303
10
313
24
337
5
342
9
351
2
353
4
357
1
358
10
368
3
371
2
373
2
375
7
382
86
468
384
852
384
1236
10
1246
2
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