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the angle encoder corresponding the zero degree of the azimuth value. The azimuth resolution is
0.01 degrees.
5.2.3 Tail
The Tail is 4 bytes in length, reserved for calibration.
5.3 Device Info Output Protocol（DIFOP）
Device Info Output Protocol is abbreviated as DIFOP
I/O type: device output, computer read.
Default port number: 7788.
DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N), firmware
version information, host computer driver compatibility information, network configuration
information, calibration information, motor operating configuration, operating status, and fault
diagnosis information to users. By reading DIFOP, users can learn specific information of various
parameters of the LiDAR currently in use.
A complete DIFOP packet consists of a synchronization header, data area and a tail. Each DIFOP
Packet is 1248-byte long, including an 8-byte long synchronization header, 1238-byte long data
blocks and a 2-byte long tail.
The basic structure of the DIFOP packet is as shown in the table below:
Header
0
Segments
No.
1
2
Data
3
4
5
6
Table 5-6 DIFOP Packet Structure
Information Registers
DIFOP identification header
Motor speed
Ethernet source address
Ethernet destination address
Ethernet IP and LiDAR MAC address
MSOP port number
Reserved
DIFOP port number
Reserved
The FOV start angle
The FOV end angle
Reserved
Motor phase lock
Top board firmware version number
Bottom board firmware version number
Bottom board software version
Motor firmware version number
Sensor hardware version number
Web page cgi version number
20
RS-Ruby Plus User Manual
Offset
Length（byte）
0
8
8
2
10
4
14
4
18
6
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
4
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