RoboSense LiDAR RS-Bpearl, User Manual

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RS-Bpearl User manual
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Figure 4-5 PTP Connecting Diagram
Note:
1. The PTP Master timing equipment is a third-party equipment that needs to be purchased by the user
independently, which is not included in the RoboSense standard product shipping package.
2. As a PTP Slave device, our LiDAR only obtains the time sent by the PTP Master, and does not make accuracy
judgments. If the time of the LiDAR deviates from the real time, please check whether the time provided by the
PTP Master is accurate;
3. After the LiDAR is synchronized, the PTP Master is disconnected, and the time in the point
cloud data packet will be superimposed according to the LiDAR's internal clock, and it will be
reset after the LiDAR is powered off and restarted.
4.6.5. Time Calculation
The MSOP data packet contains time data. When external time synchronization signal is not
available, a default system time will be used for the timing. The sensor time will be updated when
external time synchronization signals are available.
The time stamp in the MSOP data packet could be parsed as below:
1) The time stamp data in the MSOP data packet contains year, month, day, hour, minute,
second, millisecond, and microsecond parts. As shown in Figure 4-6, the year, month, day,
hour, minute, and second are represented by: 0X15, 0X0C, 0X07, 0X03, 0X06, and 0X23;
converted to decimal is: year 2021, month 12, day 7, hour 3, minute 6, second 35.
2) The millisecond and microsecond data are generated from the internal timing of the LiDAR,
the maximum value is 0X03E7 (999); as shown in Figure 4-6, the millisecond and
microsecond parts are represented by: 0Xe1 0X72, 0Xe1 0Xc5; converted to decimal is 370
milliseconds, 453 microseconds.
PTP Master (third party)
LiDAR Configuration Box
Ethernet Switch