RoboSense LIDAR RS-Helios-1615 User Manual

Name: RoboSense LIDAR RS-Helios-1615
Brand: RoboSense
Rating: 5 (1 reviews)

60 pages

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RS-Helios-1615 User Manual

RS-Helios-1615

Table of Contents4
Safety Notices7
Helios Series Products8
Product Appearance and Interface9
Product Appearance9
Aviation Plug and Pin Definition9
Interface Box10
Unboxing & Installation12
Standard Package12
Sensor Mounting12
Quick Connection14
Sensor Specifications and Features16
Sensor Specification16
Parameters16
Point Cloud Display18
Coordinate Mapping18
Reflectivity18
Laser Return Modes19
Principle of Laser Return Modes19
Return Mode Flag20
Phase Locking20
Time Synchronization21
GPS Time Synchronization21
The Use of GPS for Time Synchronization21
PTP Time Synchronization22
PTP Wiring Method22
Communication Protocol24
MSOP and DIFOP24
Main Data Stream Output Protocol（Msop25
Header25
Data Blocks26
Tail27
Device Info Output Protocol（Difop28
Vertical Angles and Precision Point Timing Calculation30
Channel Number and Vertical Angle30
Exact Point Timing Calculation30
Troubleshooting32
Appendix A Web Interface34
Device Screen34
Web Interface for Sensor Setting34
Diagnostic Screen37
System Screen38
Appendix B Information Registers41
Motor Speed (MOT_SPD)41
Ethernet（Eth41
FOV Setting（Fov_Set42
Motor Phase Offset (MOT_PHASE)42
Top Board Firmware Version (TOP_FRM)42
Bottom Board Firmware Version(BOT_FRM)43
Motor Firmware Version(MOT_FRM)43
Software Version(SOF_FRM)43
Corrected Vertical Angle(COR_VERT_ANG)43
Corrected Horizontal Angle45
Serial Number46
Software Version（Software_Ver46
UTC Time（Utc_Time46
Status（Status46
Fault Diagnosis（Falt_Digs47
GPRMC Data Packet-ASCII Code Data Type48
Appendix C Rsview49
Software Features49
Install Rsview49
Set up Network50
Visualize Streaming Sensor Data50
Capture Streaming Sensor Data to PCAP File51
Replay PCAP File52
Set Rsview Data Port54
Appendix D RS-Helios ROS&ROS2 Package55
Install Software55
Download & Compile Robosense Lidar Driver Package55
Configure PC IP56
Real Time Display56
View Offline Data57
Appendix E Mechanical Drawings58
Appendix F Sensor Cleaning59
Attention59
Required Materials59
Cleaning Method59

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RoboSense LIDAR RS-Helios-1615 Specifications

General

Brand	RoboSense
Model	LIDAR RS-Helios-1615
Category	Robotics
Language	English

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