Appendix B Information Registers; Motor Speed (Mot_Spd); Ethernet（Eth - RoboSense LiDAR RS-Ruby Plus User Manual

Appendix B Information Registers

Here are definitions and more details on the information registers as mentioned in Section 5.
B.1 Motor Speed (MOT_SPD)
Byte No. byte1
Function MOT_SPD
Register description:
(1) This register is used to configure the motor rotation direction and motor speed;
(2) The data storage adopts the 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
Function
Byte No. byte9 byte10
Function
Byte No. byte17 byte18
Function port2
Register description:
(1) LIDAR_IP is the source IP address of the LiDAR. It takes 4 bytes;
(2) DEST_PC_IP is the IP address of the destination PC. It takes 4 bytes;
(3) MAC_ADDR is the LiDAR MAC address;
(4) port1 to port4 are port number information;
port1 is the port for LiDAR to output MSOP packets and port2 is the port for destination PC to
receive MSOP packets. port3 is the port for LiDAR to output DIFOP packets and port4 is the port
for destination PC to receive DIFOP packets. By default, we suggest port1 and port2 to be set the
same, port3 and port4 to be set the same.
。
MOT_SPD (2 bytes in total)
byte2
ETH (22 bytes in total）
byte2 byte3 byte4
LIDAR_IP
byte11 byte12
MAC_ADDR
byte19 byte20
port3
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RS-Ruby Plus User Manual
byte5 byte6 byte7
DEST_PC_IP
byte13 byte14 byte15
byte21 byte22
port4
byte8
byte16
port1