User Guide

RS-LiDAR-16 User Manual
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(3) MAC_ADDR is the LiDAR MAC Address.
(4) port1~port4 signals the number of ports. Port1 is MSOP Port Number of LiDAR for outputting packet
and port2 is the destination PC Port Number for receiving MSOP packet. Port3 is DIFOP Port Number of
LiDAR for outputting packet and port4 is the destination PC Port Number for receiving DIFOP packet.
By default, Port1 and port2 are same, port3 and port4 are same.
B.3 FOV Setting (FOV SET)
FOV SET(4bytes in total)
No.
byte1
byte2
byte3
byte4
Function
FOV_START
FOV_END
Register Description: Set the horizontal angle range of the device for outputting valid data, FOV_START
and FOV_END adjustment range 0~36000, corresponding angle 0~360°, the data storage format
adopts big endian format. For example: the byte1 = 0x5d，byte2 = 0xc0，byte3 = 0x1f，byte4 = 0x40, so:
FOV_START = 93*256+192=24000
FOV_END = 31*256+64=8000
Indicates that the valid data output has a horizontal angle ranging from 240.00° to 80.00°.
Note: In all above calculation, bytes have been transformed to decimal.
B.4 Motor Phase Offset (MOT_PHASE)
MOT_PHASE(2bytes in total)
No.
byte1
byte2
Function
MOT_PHASE
Register description: It can be used to adjust the phase offset of the motor with the PPS together. The
value can be set from 0 to 360. The data storage format adopts big endian format. For example: the
byte1=1, byte2=14, so the motor phase should be 1*256+14 = 270.
Note: In all above calculation, bytes have been transformed to decimal.
B.5 Top Board Firmware (TOP_FRM)
TOP_FRM(5bytes in total)
No.
byte1
byte2
Byte3
Byte4
Byte5
Function
TOP_FRM
Register description：
If our top board firmware revision is T6R23V6_T6_A, then TOP_FRM will output 06 23 06 06 A0. In the
output, the A represents release version Application, while the F represents factory version Factory.