RoboSense Ruby Plus User Manual page 35

Section Index
Header 0 DIFOP Identifier
1 Motor Speed Setting
2 Ethernet
3 FOV Setting Value
4 Reserved
Motor Phase Lock
Mainboard
Version
Baseboard
Version
5
APP Software Version
Motor
Version
Reserved
Web CGI Version
6 Reserved
Ethernet Gateway
7
Subnet Mask
Data 8 Reserved
9 Product Serial Number
10 Reserved
11 Return Mode
12 Time Sync Info
13 Time
14 Operating Status
15
Forward/Reverse Flag
16 Reserved
17 Fault Diagnosis
18 Reserved
19 GPRMC
Vertical
20
Calibration
Horizontal
21
Calibration
22 Reserved
Tail 23 Frame Tail
34
Table 16 Data Format Structure of DIFOP Packet
Information Offset
Firmware
Firmware
Firmware
Angle
Angle
1236
1246
Length
(byte)
0 8 a5_ff_00_5a_11_11_55_55
8 2 Appendix C.1
10 22 Appendix C.2
32 4 Appendix C.3
36 2 /
38 2 Appendix C.4
Appendix C.5
40 5
Appendix C.6
45 5
50 5 Appendix C.7
Appendix C.8
55 5
60 3 /
63 4 Appendix C.9
67 16 /
83 4
IPv4 format
87 4
91 201 /
292 6 Appendix C.10
298 2 /
300 1 Section 2.5.3
301 2 Appendix C.11
303 10 Appendix C.12
313 24 Appendix C.13
Forward:
337 1 0x01
338 13 /
351 24 Appendix C.14
375 7 /
382 86 Appendix C.15
Appendix C.16
468 384
Appendix C.17
852 384
10 /
2 0f_f0
Ruby Plus User Guide
Remarks
0x00, Reverse: