User Manuals: RoboSense LiDAR Helios-1615 Sensor

Manuals and User Guides for RoboSense LiDAR Helios-1615 Sensor. We have 1 RoboSense LiDAR Helios-1615 Sensor manual available for free PDF download: User Manual

RoboSense LiDAR Helios-1615 User Manual

RoboSense LiDAR Helios-1615 User Manual (62 pages)

Brand: RoboSense | Category: Robotics | Size: 3 MB

Table of Contents

Table of Contents
4
Safety Notices
7
Helios Series Products
8
Product Appearance and Interface
9
Product Appearance
9
Aviation Plug and Pin Definition
9
Interface Box
9
Unboxing & Installation
12
Standard Package
12
Sensor Mounting
12
Quick Connection
14
Sensor Specifications and Features
16
Sensor Specification
16
Parameters
16
Point Cloud Display
17
Coordinate Mapping
17
Reflectivity
18
Laser Return Modes
18
Principle of Laser Return Modes
18
Return Mode Flag
19
Phase Locking
19
Time Synchronization
20
GPS Time Synchronization
20
The Use of GPS for Time Synchronization
20
PTP Time Synchronization
21
PTP Wiring Method
22
Communication Protocol
23
MSOP and DIFOP
23
Main Data Stream Output Protocol（Msop
24
Header
24
Data Blocks
25
Device Info Output Protocol（Difop
28
Vertical Angles and Exact Point Time Calculation
31
Channel Number and Vertical Angle
31
Exact Point Time Calculation
31
Troubleshooting
33
Appendix A Web Interface
35
Device Information Screen
35
Device Parameter Setting Screen
35
Device Diagnostic Screen
38
Device/System Upgrade Screen
39
Appendix B Information Registers
42
Motor Speed (MOT_SPD)
42
Ethernet（Eth
42
FOV Setting（Fov_Set
43
Motor Phase Offset (MOT_PHASE)
43
Top Board Firmware Version (TOP_FRM)
43
Bottom Board Firmware Version(BOT_FRM)
44
Motor Firmware Version(MOT_FRM)
44
Software Version(SOF_FRM)
44
Corrected Vertical Angle(COR_VERT_ANG)
44
Corrected Horizontal Angle
46
Serial Number
46
Software Version（Software_Ver
47
UTC Time（Utc_Time
47
Status（Status
47
Fault Diagnosis（Falt_Digs
48
GPRMC Data Packet-ASCII Code Data Type
49
Appendix C Rsview
50
Software Features
50
Install Rsview
50
Set up Network
51
Visualize Streaming Sensor Data
51
Capture Streaming RS-Helios-16P Data to PCAP File
52
Replay Captured Data from PCAP File
53
Set Rsview Data Port
56
Appendix D RS-Helios-16P ROS&ROS2 Package
57
Install Software
57
Download & Compile Robosense Lidar Driver Package
57
Configure PC IP
58
Real Time Display
58
View Offline Data
59
Appendix E Mechanical Drawings
60
Appendix F Sensor Cleaning
61
Attention
61
Required Materials
61
Cleaning Method
61

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