RoboSense RS-Bpearl Manuals

RoboSense RS-Bpearl Manuals

Manuals and User Guides for RoboSense RS-Bpearl. We have 1 RoboSense RS-Bpearl manual available for free PDF download: User Manual

RoboSense RS-Bpearl User Manual

RoboSense RS-Bpearl User Manual (56 pages)

Brand: RoboSense | Category: Accessories | Size: 1 MB

Table of Contents

Revision History
2
Table of Contents
4
1 Safety Notice

6
2 Introduction

7
3 Product Specifications

8
4 Interface

9
- Power Supply
  9
- Data Output Interface of Lidar
  9
- Interface Box
  9
- Connection of Interface Box
  11
5 Communication Protocol

12
- Msop
  12
  - Header
    14
  - Data Field
    15
  - Tail
    16
  - MSOP Data Package
    16
- Difop
  17
- Ucwp
  18
6 GPS Synchronization

21
- GPS Synchronization Theory
  21
- GPS Usage
  21
7 Key Characteristic

22
- Return Mode
  22
  - Return Mode Principle
    22
  - 1The Strongest Return
    22
  - 2Strongest, Last and Dual Returns
    22
  - 3Return Mode Flag
    22
- Phase Lock
  23
8 Point Cloud

24
- Coordinating Mapping
  24
9 Definition of Vertical Angles

25
10 Reflectivity

27
11 Troubleshooting

28
Appendix A Point Time Calculate

29
- RS-Bpearl Calculation of Time Stamp in Single Mode
  29
- RS-Bpearl Calculation of Time Stamp in Dual Mode
  31
Appendix B Information Registers

33
- Motor(Mot_Spd)
  33
- Ethernet(Eth)
  33
- FOV Setting (FOV SET)
  34
- Motor Phase Offset (MOT_PHASE)
  34
- Top Board Firmware (TOP_FRM)
  34
- Bottom Board Firmware (BOT_FRM)
  35
- Serial Number(SN)
  35
- Software Version(SOFTWARE_VER)
  35
- UTC Time(UTC_TIME)
  35
- Status
  36
- Fault Diagnosis
  37
- ASCII Code in GPRMC Packet
  38
- Corrected Vertical Angle (COR_VERT_ANG)
  38
- Corrected Horizontal Offset Angle (COR_HOR_ANG)
  39
Appendix C Rsview

40
Appendix D RS-Bpearl ROS Package

49
Appendix E Dimension

52
Appendix F Suggestion of Mechanical Lidar Mount

53
Appendix G Seek MSOP and DIFOP Port Number

54
Appendix H Clean of Lidar

55
- Attention
  55
- Required Materials
  55
- Clean Method
  55

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