# 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

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## 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<br>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**<br>• When NTP is **OFF**: Unit ms. represents the number of milliseconds after power-on<br>• When NTP is **ON**: Represents the fractional part of a timestamp in NTP64 format. |
| 32     | 2      | **Bit[14:0]**: Rotation rate<br>**Bit[15]**: Rotation direction (0: clockwise, 1: counter clockwise)  |
| 34     | 1      | Safe zone status, same as the hardware INPUT/OUTPUT<br>**BIT[3:0]**: Same as OUTPUT[3:0]<br>**BIT[7:4]**: Same as INPUT[3:0] |
| 35     | 1      | **Error status**. A corresponding bit of "1" indicates an error<br>• BIT0: Motor fault<br>• BIT1: Abnormal voltage<br>• BIT2: Temperature fault |
| 36     | 4      | • When NTP is **OFF**: Reserved<br>• 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<br>Unit: 0.01°/LSB, range 0° ~ 359.99°<br>**Note**: Data block is invalid if this value is greater or equal than `0xFF00` |
| 2      | 2      | **Distance readout data**, unsigned integer<br>Actual distance = readout data × distance scale       |
| 4      | 2      | **Signal strength**, indicates the strength of the received signal, range 0~65535                     |
| 6      | 2      | Reserved (TBD)                                                                                        |

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