Table Of Contents - RoboSense LiDAR RS-Ruby Plus User Manual

1 Safety Notices ..............................................................................................................................................................1
2 Product Appearance and Interface...................................................................................................................... 2
2.1 Product Appearance .................................................................................................................................... 2
2.2 Aviation Plug and Pin Definition .............................................................................................................. 2
2.2.2 RJ45 Ethernet Port .......................................................................................................................... 5
2.2.1 Power...................................................................................................................................................4
2.2.3 I/O definition .................................................................................................................................... 5
3.1 Optional accessories ....................................................................................................................................6
3 Unboxing & Installation............................................................................................................................................6
3.2 Sensor Mounting ...........................................................................................................................................6
3.3 Quick Connection ..........................................................................................................................................7
4 Sensor Specifications and Features ......................................................................................................................8
4.1.1 Parameters .........................................................................................................................................8
4.1 Sensor Specification
4.2 Point Cloud Display...................................................................................................................................... 9
4.2.1 Coordinate Mapping ...................................................................................................................... 9
4.3 Reflectivity .......................................................................................................................................................9
4.4 Laser Return Modes .................................................................................................................................. 10
4.4.1 Principle of Laser Return Modes ............................................................................................. 10
4.4.2 Return Mode Flag ......................................................................................................................... 11
4.5 Phase Locking.............................................................................................................................................. 11
4.6 Time Synchronization............................................................................................................................... 12
4.6.1 GPS Time Synchronization ......................................................................................................... 12
4.6.2 The Use of GPS for Time Synchronization ............................................................................12
4.6.3 PTP Time Synchronization ......................................................................................................... 13
4.6.4 PTP wiring Method .......................................................................................................................13
4.6.5 Time Calculation ........................................................................................................................... 14
5 Communication Protocol...................................................................................................................................... 16
5.2 Main Data Stream Output Protocol（MSOP） ............................................................................... 17
5.1 MSOP and DIFOP........................................................................................................................................16
5.2.1 Header ..............................................................................................................................................17
5.2.2 Data Blocks ......................................................................................................................................18
5.2.3 Tail ......................................................................................................................................................20
5.3 Device Info Output Protocol（DIFOP） .............................................................................................20
6 Vertical Angles and Precision Point Timing Calculation ..............................................................................22
6.1 Channel Number and Vertical Angle ................................................................................................... 22
6.2 Exact Point Timing Calculation .............................................................................................................. 22
7 Troubleshooting ....................................................................................................................................................... 26
Appendix A Web Interface ....................................................................................................................................... 28
A.1 Device Screen ..............................................................................................................................................28
A.2 Web Interface for Sensor Setting ......................................................................................................... 28
A.3 Diagnostic Screen ...................................................................................................................................... 31
Content
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RS-Ruby Plus User Manual