RoboSense LiDAR RS-Helios-16P Manuals

RoboSense LiDAR RS-Helios-16P Manuals

Manuals and User Guides for RoboSense LiDAR RS-Helios-16P. We have 2 RoboSense LiDAR RS-Helios-16P manuals available for free PDF download: User Manual

RoboSense LiDAR RS-Helios-16P User Manual

RoboSense LiDAR RS-Helios-16P 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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RoboSense LiDAR RS-Helios-16P User Manual

RoboSense LiDAR RS-Helios-16P 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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