RoboSense Ruby Plus User Manual page 18

2.5.5.4 gPTP Synchronization Principle
gPTP (general Precise Time Protocol, IEEE 802.1AS protocol) is a derivative protocol
of PTP in Time-Sensitive Networking (TSN). The synchronization mechanism uses
the same P2P peer delay mechanism as the PTP protocol and adopts Ethernet L2 layer
communication. Unlike PTP, gPTP requires the use of hardware-based timestamps,
i.e., hardware timestamps, so the requirements for switches and master clocks are
more stringent, complying with the IEEE 802.1AS protocol.
2.5.5.5 PTP/gPTP Wiring Method
To use PTP/gPTP synchronization, the following preparations are required. Refer to
section 3.4 of the product manual for connection details:
1) Select PTP/gPTP mode in the Web interface. See section 4.2 of the product
manual for details.
2) PTP Master/gPTP Master time source (plug and play, no additional configuration
required).
3) Ethernet switch.
4) Devices that support PTP/gPTP protocols and need time synchronization.
Note:
1)
The PTP Master device is a third-party device and is not included in the RoboSense
shipment. The user needs to purchase it separately.
2)
RoboSense products, as Slave devices, only receive time from the Master and do
not judge the accuracy of the Master's clock source. If there are sudden changes
in the time when parsing LiDAR point cloud data, please check if the time provided
by the Master is accurate.
3)
After LiDAR synchronization, when the Master is disconnected, the time in the
point cloud data packet will be accumulated based on the LiDAR's internal clock.
The time will be reset when the LiDAR is powered off and restarted.
Ruby Plus User Guide
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