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RoboSense LIDAR RS-Helios-1615 User Manual

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Table Of Contents

Table of Contents

Table of Contents
Safety Notices
Helios Series Products
Product Appearance and Interface
Product Appearance
Aviation Plug and Pin Definition
Interface Box
Unboxing & Installation
Standard Package
Sensor Mounting
Quick Connection
Sensor Specifications and Features
Sensor Specification
Parameters
Point Cloud Display
Coordinate Mapping
Reflectivity
Laser Return Modes
Principle of Laser Return Modes
Return Mode Flag
Phase Locking
Time Synchronization
GPS Time Synchronization
The Use of GPS for Time Synchronization
PTP Time Synchronization
PTP Wiring Method
Communication Protocol
MSOP and DIFOP
Main Data Stream Output Protocol（Msop
Header
Data Blocks
Tail
Device Info Output Protocol（Difop
Vertical Angles and Precision Point Timing Calculation
Channel Number and Vertical Angle
Exact Point Timing Calculation
Troubleshooting
Appendix A Web Interface
Device Screen
Web Interface for Sensor Setting
Diagnostic Screen
System Screen
Appendix B Information Registers
Motor Speed (MOT_SPD)
Ethernet（Eth
FOV Setting（Fov_Set
Motor Phase Offset (MOT_PHASE)
Top Board Firmware Version (TOP_FRM)
Bottom Board Firmware Version(BOT_FRM)
Motor Firmware Version(MOT_FRM)
Software Version(SOF_FRM)
Corrected Vertical Angle(COR_VERT_ANG)
Corrected Horizontal Angle
Serial Number
Software Version（Software_Ver
UTC Time（Utc_Time
Status（Status
Fault Diagnosis（Falt_Digs
GPRMC Data Packet-ASCII Code Data Type
Appendix C Rsview
Software Features
Install Rsview
Set up Network
Visualize Streaming Sensor Data
Capture Streaming Sensor Data to PCAP File
Replay PCAP File
Set Rsview Data Port
Appendix D RS-Helios ROS&ROS2 Package
Install Software
Download & Compile Robosense Lidar Driver Package
Configure PC IP
Real Time Display
View Offline Data
Appendix E Mechanical Drawings
Appendix F Sensor Cleaning
Attention
Required Materials
Cleaning Method

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1 Table of Contents
2 Aviation Plug and Pin Definition
3 Quick Connection
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RS-Helios-1615 User Manual

RS-Helios-1615

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RoboSense LIDAR RS-Helios-1615 User Manual

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