Fault Diagnosis（Falt_Digs - RoboSense LiDAR RS-Ruby Plus User Manual

Register description:
1 ） Idat is the current of the LiDAR power supply. The current value is composed of 2 bytes.
Current calculation formula:
For example, when byte1 = 0x00,byte2 = 0x70，the actual current value：
2）Vdat has 9 different voltage values, each voltage value has 2 bytes, calculation formula of each
voltages are as below:
The unit above is volt (V).
B.17 Fault Diagnosis（FALT_DIGS）
Byte No. byte1
Function
Byte No. byte9
Function Reserved
Byte No. byte17
Function Temperature 1
Byte No. byte25
Function Internal debug
Byte No. byte33
Real-time
Function
speed
Note:[Value] is short type data (signed bit), in big endian mode.
Register description:
The temperature value is composed of 2 bytes, and the calculation formula is: Value/100
Idat=
Value
Idat = 0x70/100=1.12A
Vdat1_reg = Value/100 V
FALT_DIGS (40 bytes in total)
byte2 byte3 byte4
byte10 byte11 byte12
Number of starts
byte18 byte19 byte20
Temperature 2
byte26 byte27 byte28
Code Wheel
Reserved
Calibration
byte34 byte35 byte36
40
RS-Ruby Plus User Manual
/100
byte5 byte6
Reserved
byte13 byte14
Internal debug
byte21 byte22
Temperature 3
byte29 byte30
Real-time phase
Reserved
byte37 byte38
Reserved
byte7 byte8
byte15 byte16
GPS_Status
byte23 byte24
Internal debug
byte31 byte32
Real-time
values speed
byte39 byte40