DEFINITION OF HEADER
USER MANUAL
11
DEFINITION OF HEADER
Total length of data packet is 1240 bytes, among which 40 bytes represent the header,
and 1200 bytes represent the data returned by laser.
0
4
ID, it is always 0xFEF0010F
4
2
Protocol version code, the current code is 0x0200
6
1
Distance scale, actual distance = readout data x distance scale
(mm)
7
3
Brand name code. Use capital letters and digits. Us “\0” at the
end for missing code
10
12
Commercial type code: end with “\0”
22
2
Internal type code
24
2
Hardware version
26
2
Software version
28
4
Time stamp (ms) indicating hour, minute, second, millisecond
with 24 hour cycle
32
2
Bit[14:0] : Rotation rate
Bit15 : Rotation direction (0: clockwise, 1: counterclockwise)
34
1
Safe zone status, same as the hardware INPUT/OUTPUT
BIT[3:0] : Same as OUTPUT[3:0]
BIT[7:4] : Same as INPUT[3:0]
35
1
Error status. A corresponding bit of “1” indicates an error.
BIT0 : Motor fault
BIT1 : Abnormal voltage
BIT2 : Temperature fault
36
4
Reserved
DEFINITION OF BLOCK
The length of data block is 8 bytes as shown in the table below:
0
2
Angle, unsigned integer. Range: 0 to 35999
Unit: 0.01°/LSB, range 0° to 359.99°
Note: Data block is invalid if this value is greater than or equal
to 0xFF00
2
2
Distance readout data, unsigned integer
The distance is determined by “readout data x distance scale”
(mm)
4
2
Signal strength, indicates the strength of the received signal,
range 0 to 65535
6
2
Reserved
OFFSET LENGTH
DESCRIPTION
OFFSET LENGTH
DESCRIPTION
Preliminary 13-Jan-2021
Summary of Contents for LGS-N50
Page 1: ...LGS N50 USER MANUAL Navigation LiDAR Preliminary 13 Jan 2021 ...
Page 26: ...22 LGS N50 APPENDIX A DATA PACKET Preliminary 13 Jan 2021 ...
Page 27: ...USER MANUAL 23 APPENDIX B MECHANICAL DIMENSIONS Preliminary 13 Jan 2021 ...
Page 28: ...MECHANICAL DIMENSIONS 24 LGS N50 Preliminary 13 Jan 2021 ...
Page 29: ...USER MANUAL 25 APPENDIX C EXAMPLE OF ELECTRICAL CONNECTION OUTPUT Q1 Preliminary 13 Jan 2021 ...
Page 30: ...Preliminary 13 Jan 2021 ...
Page 31: ...Preliminary 13 Jan 2021 ...
