RoboSense LIDAR RS-Helios-1615 32-beam Manuals

Manuals and User Guides for RoboSense LIDAR RS-Helios-1615 32-beam. We have 1 RoboSense LIDAR RS-Helios-1615 32-beam manual available for free PDF download: User Manual

RoboSense LIDAR RS-Helios-1615 User Manual

RoboSense LIDAR RS-Helios-1615 User Manual (60 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
10
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
18
Coordinate Mapping
18
Reflectivity
18
Laser Return Modes
19
Principle of Laser Return Modes
19
Return Mode Flag
20
Phase Locking
20
Time Synchronization
21
GPS Time Synchronization
21
The Use of GPS for Time Synchronization
21
PTP Time Synchronization
22
PTP Wiring Method
22
Communication Protocol
24
MSOP and DIFOP
24
Main Data Stream Output Protocol（Msop
25
Header
25
Data Blocks
26
Tail
27
Device Info Output Protocol（Difop
28
Vertical Angles and Precision Point Timing Calculation
30
Channel Number and Vertical Angle
30
Exact Point Timing Calculation
30
Troubleshooting
32
Appendix A Web Interface
34
Device Screen
34
Web Interface for Sensor Setting
34
Diagnostic Screen
37
System Screen
38
Appendix B Information Registers
41
Motor Speed (MOT_SPD)
41
Ethernet（Eth
41
FOV Setting（Fov_Set
42
Motor Phase Offset (MOT_PHASE)
42
Top Board Firmware Version (TOP_FRM)
42
Bottom Board Firmware Version(BOT_FRM)
43
Motor Firmware Version(MOT_FRM)
43
Software Version(SOF_FRM)
43
Corrected Vertical Angle(COR_VERT_ANG)
43
Corrected Horizontal Angle
45
Serial Number
46
Software Version（Software_Ver
46
UTC Time（Utc_Time
46
Status（Status
46
Fault Diagnosis（Falt_Digs
47
GPRMC Data Packet-ASCII Code Data Type
48
Appendix C Rsview
49
Software Features
49
Install Rsview
49
Set up Network
50
Visualize Streaming Sensor Data
50
Capture Streaming Sensor Data to PCAP File
51
Replay PCAP File
52
Set Rsview Data Port
54
Appendix D RS-Helios ROS&ROS2 Package
55
Install Software
55
Download & Compile Robosense Lidar Driver Package
55
Configure PC IP
56
Real Time Display
56
View Offline Data
57
Appendix E Mechanical Drawings
58
Appendix F Sensor Cleaning
59
Attention
59
Required Materials
59
Cleaning Method
59

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