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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5. Clock Source and PTP Parameters
Clock Source
GPS / PTP
In the PTP mode, LiDARs do not output GPS Data Packets, as detailed in Appendix III
PTP Protocol.
When GPS is selected as the clock source:
GPS Mode
GPRMC / GPGGA
Format of the data received from the external GPS module.
Both the NMEA sentence and the GPS positioning status are put into the GPS Data
Packet. See Section 3.2.2 for details.
When PTP is selected as the clock source:
PTP Domain Number
Integer from 0 to 127
Domain attribute of the local clock
PTP Network Transport
UDP/IP (default) or L2
UDP/IP follows the PTPv2 standard defined in IEEE 1588-2008
PTP logAnnounceInterval
-2 to 3 log seconds
Time interval between Announce messages (default: 1)
PTP logSyncInterval
-7 to 3 log seconds
Time interval between Sync messages (default: 1)
PTP logMinDelayReqInterval
-7 to 3 log seconds
Minimum permitted mean time between Delay_Req messages (default: 0)