LR-1F / LR-1BS

2D LiDAR Sensor

v2.1

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

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

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.

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)