LR-1F / LR-1BS
2D LiDAR Sensor
Communication Data Protocol
v2.1
1. Type of Connector
1.1 Connector: RJ-45 standard internet connector
1.2 Basic protocol: UDP/IP standard internet protocol
Data are in little-endian format, lower byte first
2. Data Packet Format
2.1. General
The total length of a data frame is 1240 bytes, including:
- Frame header: 40 bytes
- Data block: 150 × 8 = 1,200 bytes Header Block0 Block1 ... Block149 +40 bytes +8 bytes +8 bytes +8 bytes └───────────────────────────────┘ 1200 bytes ┌───────────────────────────────┐ 1240 bytes total
2.2. Header
Definition of Frame Header
| Offset | Length | Description |
|---|---|---|
| 0 | 4 | ID, it is always 0xFEF0010F |
| 4 | 2 | Protocol version code, the current code is 0x0200 |
| 6 | 1 | Distance scale distance = readout data × distance scale |
| 7 | 3 | Brand name code, use capital letters and digits. Using "0" for missing code |
| 10 | 12 | Commercial type code: ended with \0 |
| 22 | 2 | Internal type code |
| 24 | 2 | Hardware version |
| 26 | 2 | Software version |
| 28 | 4 | Time stamp • When NTP is OFF: Unit ms. represents the number of milliseconds after power-on • When NTP is ON: Represents the fractional part of a timestamp in NTP64 format. |
| 32 | 2 | Bit[14:0]: Rotation rate Bit[15]: Rotation direction (0: clockwise, 1: counter clockwise) |
| 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 | • When NTP is OFF: Reserved • When NTP is ON: Represents the integer part of a timestamp in NTP64 format. |
2.3. Data block definition
Each data block is 8 bytes
| Offset | Length | Description |
|---|---|---|
| 0 | 2 | Angle, unsigned integer. Range: 0~35999 Unit: 0.01°/LSB, range 0° ~ 359.99° Note: Data block is invalid if this value is greater or equal than 0xFF00 |
| 2 | 2 | Distance readout data, unsigned integer Actual distance = readout data × distance scale |
| 4 | 2 | Signal strength, indicates the strength of the received signal, range 0~65535 |
| 6 | 2 | Reserved (TBD) |