Fov Setting (Fov_Set) Register; Motor Phase (Mot_Phase) Register; Main Board Firmware Version (Top_Frm) - RoboSense Ruby Plus User Manual

C.3 FOV Setting (FOV_SET) Register
Register Description:
1) This register is used to read the FOV (Field of View) setting value.
2) FOV_START and FOV_END have a range of 0 to 36000, corresponding to
angles from 0 to 360°. Details are as follows:
a) FOV_START: byte 1 = 0x5d, byte 2 = 0xc0, Value = 24000.
b) FOV_END: byte 3 = 0x1f, byte 4 = 0x40, Value = 8000.
c) With two decimal places, the FOV range is set to 240° to 80°.
C.4 Motor Phase (MOT_PHASE) Register
Register Description
1) This register is used to read the motor lock phase setting.
2) MOT_PHASE ranges from 0 to 360, corresponding to angles from 0° to
360°.Details are as follows:
a) MOT_PHASE: byte 1=0x00, byte 2=0x64, Value=100
b) Indicates that the motor lock phase is set to 100°.
C.5 Main Board Firmware Version (TOP_FRM)
Index
Function
50
Table 20 FOV Setting Register
FOV Setting Register (4 bytes)
Index byte 1 byte 2
Function FOV_START
Table 21 Motor Phase Register
Motor Phase Register (2 bytes)
Index byte 1
Function MOT_PHASE
Table 22 Main Board Firmware Version
Main board firmware version (5 bytes)
byte 1 byte 2 byte 3 byte 4 byte 5
TOP_FRM
Ruby Plus User Guide
byte 3 byte 4
FOV_END
byte 2