RoboSense RS-Ruby Lite User Manual page 72

RS-Ruby Lite Users' Manual
Figure 8: Topology of LiDAR, PC and PTP Master.
Notice:
1. PTP Master is a third-party device that is not included in accessories while shipment. It
needs to be bought by user.
2. Our product is only as a PTP Slave that gets the synchronized time from PTP Master. The
synchronization accuracy cannot be examined by LiDAR. If there is deviation between LiDAR
time and real time, please check the accuracy of Master Clock.
3. If the connectivity is interrupted after synchronization, the LiDAR time will continue counting
based on the clock inside of LiDAR. The LiDAR time will be reset until the LiDAR is powered
up again.
6.2.3 Time Calculation
In MSOP packet, it includes time stamp information. When the external synchronization is not
active, the internal timing will start from a default origin.
header
sec
ns
Figure 9: the Data Format of PTP.
(
1) The time stamps are divided into second part and nanosecond part. The second part
shown in Figure 9 is 0x00003e1942c2(1041842882); the nanosecond part is
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