RoboSense LiDAR RS-Helios-16P User manual

RS-Helios-16P User Manual
RS-Helios-16P

RS-Helios-16P User Manual
I
Revision History
Issue
Modifications
Release Date
Edited by
1.0.0
Original issue
2022-5-9
RD
1.0.1
1. Updated Time Synchronization description
2.Updated Firmware Version description
2022-6-29
PD

RS-Helios-16P User Manual
II
Terminologies
MSOP
Main data Stream Output Protocol
DIFOP
Device Info Output Protocol
FOV
Field Of View
PTP
Precision Time Protocol
NTP
Network Time Protocol
GPS
Global Positioning System
UTC
Universal Time Coordinated
Wave_mode
Echo flag
Protocol
Protocol version number, 00 represents old version, 01 represents the latest
version
Temp
Sensor temperature information
Resv
Reserved data flag
Azimuth
LiDAR horizontal rotation angle
Timestamp
Time stamp which is used to record system time
Header
Frame header in protocol packet
Tail
Frame tail in protocol packet
Value
The decimal value obtained after conversion of the corresponding offset byte,
using big-endian mode, with the high bit in the front and the low bit in the back

RS-Helios-16P User Manual
III
Content
1Safety Notices.......................................................................................................................................................1
2Helios Series Products........................................................................................................................................2
3Product Appearance and Interface................................................................................................................3
3.1 Product Appearance........................................................................................................................3
3.2 Aviation Plug and Pin Definition..................................................................................................3
3.3 Interface Box......................................................................................................................................3
4Unboxing & Installation.....................................................................................................................................6
4.1 Standard Package.............................................................................................................................6
4.2 Sensor Mounting..............................................................................................................................6
4.3 Quick Connection.............................................................................................................................8
5Sensor Specifications and Features............................................................................................................10
5.1 Sensor Specification.....................................................................................................................10
5.1.1 Parameters.............................................................................................................................10
5.2 Point Cloud Display.......................................................................................................................11
5.2.1 Coordinate Mapping...........................................................................................................11
5.3 Reflectivity.......................................................................................................................................12
5.4 Laser Return Modes.....................................................................................................................12
5.4.1 Principle of Laser Return Modes....................................................................................12
5.4.2 Return Mode Flag................................................................................................................13
5.5 Phase Locking.................................................................................................................................13
5.6 Time Synchronization ..................................................................................................................14
5.6.1 GPS Time Synchronization................................................................................................14
5.6.2 The Use of GPS for Time Synchronization...................................................................14
5.6.3 PTP Time Synchronization ................................................................................................15
5.6.4 PTP wiring Method .............................................................................................................16
6Communication Protocol ...............................................................................................................................17
6.1 MSOP and DIFOP...........................................................................................................................17
6.2 Main Data Stream Output Protocol（MSOP）..................................................................18
6.2.1 Header.....................................................................................................................................18
6.2.2 Data Blocks ............................................................................................................................19
6.2.3 Tail ............................................................................................................................................22
6.3 Device Info Output Protocol（DIFOP）................................................................................22
7Vertical Angles and Exact Point Time Calculation..................................................................................25
7.1 Channel Number and Vertical Angle.......................................................................................25
7.2 Exact Point Time Calculation.....................................................................................................25
8Troubleshooting................................................................................................................................................27
Appendix A Web Interface ......................................................................................................................................29
A.1 Device Information Screen ....................................................................................................................29
A.2 Device Parameter Setting Screen ........................................................................................................29
A.3 Device Diagnostic Screen .......................................................................................................................32
A.4 Device/System Upgrade Screen...........................................................................................................33
Appendix B Information Registers........................................................................................................................36

RS-Helios-16P User Manual
IV
B.1 Motor Speed (MOT_SPD).......................................................................................................................36
B.2 Ethernet（ETH）......................................................................................................................................36
B.3 FOV Setting（FOV_SET）.......................................................................................................................37
B.4 Motor Phase Offset (MOT_PHASE) .....................................................................................................37
B.5 Top Board Firmware Version (TOP_FRM)....................................................................................37
B.6 Bottom Board Firmware Version(BOT_FRM).............................................................................38
B.7 Motor Firmware Version(MOT_FRM) ............................................................................................38
B.8 Software Version(SOF_FRM)..............................................................................................................38
B.9 Corrected Vertical Angle(COR_VERT_ANG)......................................................................................38
B.10 Corrected Horizontal Angle(COR_HOR_ANG）............................................................................40
B.11 Serial Number(SN）..............................................................................................................................40
B.12 Software Version（SOFTWARE_VER）...........................................................................................41
B.13 UTC Time（UTC_TIME）.....................................................................................................................41
B.14 STATUS（STATUS）................................................................................................................................41
B.15 Fault Diagnosis（FALT_DIGS）..........................................................................................................42
B.16 GPRMC Data Packet-ASCII Code Data Type....................................................................................43
Appendix C RSView....................................................................................................................................................44
C.1 Software Features.....................................................................................................................................44
C.2 Install RSView .............................................................................................................................................44
C.3 Set Up Network..........................................................................................................................................45
C.4 Visualize Streaming Sensor Data..........................................................................................................45
C.5 Capture Streaming RS-Helios-16P Data to PCAP File ....................................................................46
C.6 Replay Captured Data from PCAP File................................................................................................47
C.7 Set RSView Data Port ...............................................................................................................................50
Appendix D RS-Helios-16P ROS&ROS2 Package...............................................................................................51
D.1 Install Software..........................................................................................................................................51
D.2 Download & Compile RoboSense LiDAR Driver Package.............................................................51
D.3 Configure PC IP ..........................................................................................................................................52
D.4 Real Time Display......................................................................................................................................52
D.5 View Offline Data......................................................................................................................................53
Appendix E Mechanical Drawings.........................................................................................................................54
Appendix F Sensor Cleaning ...................................................................................................................................55
F.1 Attention.......................................................................................................................................................55
F.2 Required Materials....................................................................................................................................55
F.3 Cleaning Method........................................................................................................................................55

RS-Helios-16P User Manual
V
1. Manufacturer Information
Suteng Innovation Technology Co., Ltd. (RoboSense)
Building 9, Block 2, Zhongguan Honghualing Industry Southern District, 1213 Liuxian Avenue,
Taoyuan Street, Nanshan District, Shenzhen, China
Landline: 0755-86325830
Mobile Phone: [phone](Marketing & Sales Cooperation)
Email: [e-mail] (New)
Working hours from Monday to Friday 09:00-18:00(GMT/UTC +8)
2 Disclaimer of Liability
This manual is protected by copyright. Any rights arising from this copyright are owned by
RoboSense. Reproduction of this manual or part of the manual is only permitted within the legal
scope of the copyright law. Without obtaining any authorization, this document shall not be
abridged or translated. The trademarks mentioned in this document are the property of their
respective owners. RoboSense reserves all rights.
3 Certifications
特别说明：
This manual is updated from time to time without prior notice, to get the latest version, please visit
RoboSense company website to download or contact the RoboSense Technical Support or Sales.

RS-Helios-16P User Manual
1
1Safety Notices
To avoid risks of accidents, damage to sensor or violating of your product warranty, please read
and follow the instructions in this manual carefully before operating the product.
Laser Safety
This product meets the following standards for laser products:
IEC 60825-1:2014;
Please pay attention to the overheating sign on the LiDAR surface to avoid a hot LiDAR surface
that may lead to sensor failure or undesirable consequences.
Retain Instructions - The safety and operating instructions should be retained for future
reference.
Heed Warnings - All warnings on the product and in the operating instructions should be
adhered to.
Servicing – Except for what’s described in this manual, the sensor has no field serviceable
parts. For servicing, please contact RoboSense sales or the authorized distributors.

RS-Helios-16P User Manual
2
2Helios Series Products
No.
Model
Number of Channels
FOV
Remark
1
Helios-5515
32
-55°~+15°
Wide FOV
2
Helios-1615
32
-16°~+15°
Uniform 1°Vertical
Resolution
3
Helios-16P
16
-15°~+15°
Uniform 2°Vertical
Resolution
This manual is for the Helios-16P product

RS-Helios-16P User Manual
3
3Product Appearance and Interface
3.1 Product Appearance
Figure 1 LiDAR Coordinate and Rotation Direction
3.2 Aviation Plug and Pin Definition
RS-Helios-16P has an aviation plug attached to the bottom of the LiDAR, the definitions of the
specific pins of the aviation plug are as shown in the table below:
Pin
Color
Function
Operating
Voltage Range
Working Current
Other
1
Red
PWR
9~32V
1.2A
/
2
Black
PWR
3
Gray
GND
/
1.2A
4
Blue
GND
5
Brown
GPS_PPS
3~15V
/
6
White
GPS_GPRMC
-15V~+15V
7
Purple
SYNC_OUT1
0~3.3V
8
Green
SYNC_OUT2
9
Orange
TRD_N
Twisted Pair
10
Yellow
TRD_P
Figure 2 Definition of Pins of Aviation Plug
3.3 Interface Box
The RS-Helios-16P comes with an Interface Box, which has 2 LED lights and provides convenient
connection to power, RJ45 Ethernet, and GPS. (The length of the integrated cable attached to the
-
Aviation plug interface side

RS-Helios-16P User Manual
4
Interface Box of the aviation plug version LiDAR is 3 meters, for other cable lengths, please contact
RoboSense technical support).
Figure 3 Definition of Interface Box Ports
Specifications of Interface Box ports:
Table 1 Interface Box Port Specification
No.
Port
Specification
1
Power Input
Standard DC 5.5-2.1 connector
2
Network
Standard RJ45 Ethernet connector
3
GPS timing
SH1.0-6P Female connector
3.3.1 Power
The power supply interface on the Interface Box is a standard DC 5.5-2.1 connector.
There are 2 LEDs in the Interface Box: when the power input is normal, the red LED lights up; when
the power output is normal, the green LED lights up. If the power indicator is dimmed, the Interface
BOX may not work properly. Please check whether the power input is normal. If the power input is
normal, the Interface BOX may be damaged. Please contact RoboSense technical support & sales
for help.
3.3.2 RJ45 Ethernet Port
The network interface on the Interface Box follows the EIA/TIA568 standard.
3.3.3 GPS Time Synchronization
RS-Helios-16P uses GPS for Time Synchronization: the GPS REC receives GPS UART standard input; GPS PULSE