Time Synchronization Mode - RoboSense Ruby Plus User Manual

Ruby Plus User Guide
rotates to 0°, 135°, and 270° to emit lasers. Refer to Figure 13 for the coordinate
system details.
Figure 4 Ruby Plus Phase Lock Setting Illustration
The "Phase Lock" parameter setting is available in the Web interface under Setting >
Phase Lock Setting. It allows users to set the locked phase angle, which should be an
integer ranging from 0 to 359. For more details, refer to section 4.2 of the product
manual.
2.5.5

Time Synchronization Mode

Ruby Plus supports three time synchronization methods: GPS + PPS, PTP (IEEE
1588 V2 protocol), and gPTP (IEEE 802.1 AS protocol). Users can configure these
settings through the Web interface. For more details, refer to section 4.2 of the product
manual.
2.5.5.1 GPS Time Synchronization Principle
The GPS module continuously sends GPRMC data and PPS synchronization pulse
signals to the product. The PPS synchronization pulse length should be between 20 to
200 ms, and the GPRMC data must be completed within 500 ms of the
synchronization pulse. The timing diagram is shown in Figure 5 .
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