Serial Number; Time Synchronization Setting（Sync_Set - RoboSense LiDAR RS-Ruby Plus User Manual

Function Channel 19 horizontal angle
Byte No.
Function
Byte No. byte358 byte359
Function Channel 120 horizontal angle
Byte No. byte367 byte368
Function Channel 123 horizontal angle
Byte No. byte376 byte377
Function Channel 126 horizontal angle
Register description:
(1) The channel horizontal angle value is composed of 3 bytes, among which the 1
to indicate positive/negative angle, the 2
adopts big-endian format;
(2) The 1 st byte of the horizontal angle value, 0x00 means a positive angle, 0x01 means a negative
angle;
(3) The angle resolution: LBS=0.01;
(4) For example, the register value of channel 1: byte1=0x01, byte2=0x01 (converted to decimal is
1), byte3=0x53 (converted to decimal is 83), then the
B.11 Serial Number(SN）
Byte No. 1byte
Function
Similar to the MAC address, it indicates the serial number of the LiDAR with a total of 6 bytes in
hexadecimal.
B.12 Time synchronization Setting（Sync_set）
Byte No.
Function
Register description：
1）00 represents GPS Time Synchronization；
2）01 represents PTP-E2E Time Synchronization；
3）02 represents PTP-P2P Time Synchronization；
4）03 represents Gptp Time Synchronization。
Channel 20 horizontal angle
...
byte360 byte361
Channel 121 horizontal angle
byte369 byte370
Channel 124 horizontal angle
byte378 byte379
Channel 127 horizontal angle
nd and 3
（2*256+83）*0.01=5.95°
SN(6 bytes in total)
2byte 3byte
Sync_set（1 bytes in total）
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RS-Ruby Plus User Manual
Channel 21 horizontal angle
...
...
byte362 byte363 byte364
Channel 122 horizontal angle
byte371 byte372 byte373
Channel 125 horizontal angle
byte380 byte381 byte382
Channel 128 horizontal angle
rd bytes indicate angle value. The data storage
angle of channel 1 is:
horizontal
4byte
SN
1byte
Sync_set
...
byte365 byte366
byte374 byte375
byte383 byte384
st byte is used
5byte 6byte