User's Manual
Table Of Contents
- Contents
- Safety Notice
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Phoenix Contact
- Appendix V Nonlinear Reflectivity Mapping
- Appendix VI Certification Info
- Appendix VII Support and Contact
46
6.2 Frequently Used Commands
Command
Command Code
Payload Length
Function
PTC_COMMAND_GET_LIDAR_CALIBRATION
0x5
0
To retrieve the LiDAR’s calibration file
PTC_COMMAND_PTP_DIAGNOSTICS
0x6
1 byte
To retrieve PTP diagnostics for a specified PTP Query Type
PTC_COMMAND_GET_INVENTORY_INFO
0x7
0
To retrieve inventory info
PTC_COMMAND_GET_CONFIG_INFO
0x8
0
To retrieve configuration parameters
PTC_COMMAND_GET_LIDAR_STATUS
0x9
0
To retrieve status info such as temperature and system uptime
6.2.1 PTC_COMMAND_GET_LIDAR_CALIBRATION
Command message payload
None
Feedback message payload
LiDAR’s calibration file in CSV Format (ASCII)
Including 3 fields: LaserID, Elevation, and Azimuth Offset