User's Manual
Table Of Contents
- Contents
- Safety Notice
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Phoenix Contact
- Appendix V Nonlinear Reflectivity Mapping
- Appendix VI Certification Info
- Appendix VII Support and Contact
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4.1 Home
Spin Rate of the motor (revs per minute) = frame rate (Hz) * 60
GPS (PPS) Status
Lock
LiDAR’s internal clock is in sync with the GPS
Unlock
Not in sync
NMEA (GPRMC/GPGGA) Status
Lock
After receiving a valid NMEA message
Unlock
Not receiving a valid NMEA message
PTP Status
Free Run
No PTP master is selected; only the LiDAR’s clock is
used
Tracking
Slave is trying to sync with the selected PTP Master,
but the offset is more than 1 μs
Locked
Offset between the Slave and the Master is below 1 μ
s
Frozen
(Holdover)
LiDAR has lost connection to the PTP master and is
attempting to recover it.
Meanwhile, LiDAR starts drifting from the previous
clock; when drifting out of specifications, it goes back
to the Free Run mode.