RoboSense LiDAR RS-Ruby Plus Manuals

Manuals and User Guides for RoboSense LiDAR RS-Ruby Plus. We have 1 RoboSense LiDAR RS-Ruby Plus manual available for free PDF download: User Manual

RoboSense LiDAR RS-Ruby Plus User Manual

RoboSense LiDAR RS-Ruby Plus User Manual (60 pages)

Brand: RoboSense | Category: Analytical Instruments | Size: 4 MB

Table of Contents

Table of Contents
4
Safety Notices
7
Product Appearance and Interface
8
Product Appearance
8
Aviation Plug and Pin Definition
8
Power
10
RJ45 Ethernet Port
11
I/O Definition
11
Unboxing & Installation
12
Optional Accessories
12
Sensor Mounting
12
Quick Connection
13
Sensor Specifications and Features
14
Sensor Specification
14
Parameters
14
Point Cloud Display
15
Coordinate Mapping
15
Reflectivity
15
Laser Return Modes
16
Principle of Laser Return Modes
16
Return Mode Flag
17
Phase Locking
17
Time Synchronization
18
GPS Time Synchronization
18
The Use of GPS for Time Synchronization
18
PTP Time Synchronization
19
PTP Wiring Method
19
Time Calculation
20
Communication Protocol
22
MSOP and DIFOP
22
Main Data Stream Output Protocol（Msop
23
Header
23
Data Blocks
24
Tail
26
Device Info Output Protocol（Difop
26
Vertical Angles and Precision Point Timing Calculation
28
Channel Number and Vertical Angle
28
Exact Point Timing Calculation
28
Troubleshooting
32
Appendix A Web Interface
34
Device Screen
34
Web Interface for Sensor Setting
34
Diagnostic Screen
37
System Screen
38
Appendix B Information Registers
40
Motor Speed (MOT_SPD)
40
Ethernet（Eth
40
FOV Setting（Fov_Set
41
Top Board Firmware Version (TOP_FRM)
41
Motor Phase Offset (MOT_PHASE)
41
Bottom Board Firmware Version(BOT_FRM)
42
Web CGI Version(SOF_FRM)
42
Software Version(SOF_FRM)
42
Corrected Vertical Angle(COR_VERT_ANG)
42
Corrected Horizontal Angle
43
Serial Number
44
Time Synchronization Setting（Sync_Set
44
B.13Time Synchronization Status（Sync_Status
45
UTC Time（Utc_Time
45
Rotation Direction（Rotation
45
Status（Status
45
Fault Diagnosis（Falt_Digs
46
GPRMC Data Packet-ASCII Code Data Type
47
Appendix C Rsview
48
Software Features
48
Install Rsview
48
Set up Network
48
Visualize Streaming Sensor Data
49
Capture Streaming Sensor Data to PCAP File
50
Replay PCAP File
51
Appendix D RS-Ruby Plus ROS&ROS2 Package
54
Download & Compile Robosense Lidar Driver Package
54
Install Software
54
Configure PC IP
55
Real Time Display
55
View Offline Data
56
Appendix E Mechanical Drawings
57
Appendix F Correspondence Table of Channel Ranging Ability
58
Appendix G Sensor Cleaning
58
Attention
59
Cleaning Method
59
Required Materials
59

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