Data Sheet

Page 9
operation mode, the command does not take effect
and the machine will be restored to the state before
center calibration. )
1) Depth is the ROI length of the test distance, in dm;
2) Width is half the ROI width of the test distance, in cm;
3) The Spare field is temporarily reserved.
4.1.2. Data Frame Format
Table 3 CAN Data Frame Format
CE30-A-->MPU
Data length
Description
ID:0x586
The projected distance of
nearest obstacle point
2
Little-endian. Unit: cm
Reserve
1
The angle of the nearest
obstacle point
1
Degree
Reserve
3
State
1
bit0: 1-obstacle detected, 0-no obstacle
1) The data provided by the LiDAR is the projected distance of the obstacle to the front surface of the machine, and
the angle of the nearest point of the obstacle, i.e. (z, θ). The center of the FOV is 0 degree, the left is negative and the
right is the positive. See Figure 6.
2) Distance data is 2byte, and transmitted by the means of little-endian, in cm.
3) All angle values are signed 8 bit angle values, in degree.
4.1.3. Heartbeat Frame Format
Table 4 Heartbeat Information
CE30-A-->CPU
Byte length
Description
ID:0x587
Heartbeat packet
1
bit0: 1 – Running state; 0 – Stop state
bit1: 1 – Valid version number; 0 - Invalid version
number
bit2: 1 – Error; 0 – Normal;