RoboSense Ruby Plus LiDAR User Guide

RoboSense Ruby Plus LiDAR user guide: 128-channel flagship 3D LiDAR with 240m range, 0.1° resolution, MSOP/DIFOP protocols, Web UI setup, and troubleshooting.

RoboSense Ruby Plus LiDAR

RoboSense Ruby Plus LiDAR: 128-line, 360°×40° FOV, 250m range, 2cm precision. 4.6M pts/s (single return), IP67/IP6K9K, -40°C~+60°C.

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1. Product Description

1.1 Product Overview

Ruby Plus is a new flagship 128-line LiDAR by RoboSense, featuring a modular and innovative design for L4+ autonomous driving. It breaks through the measurement range to 240 meters at 10% reflectivity and offers a vertical angle resolution of 0.1° and a horizontal angle resolution of 0.1° (high-performance mode). It provides denser point cloud information in both vertical and horizontal directions, enabling long-distance detection of pedestrians and vehicles and significantly increasing response time for high-speed driving. Additionally, Ruby Plus exhibits enhanced ground and lane detection capabilities.

Compared to the previous generation product, Ruby Plus has reduced its volume by 52%, weight by 50%, and power consumption by 33%.

1.2 Product Structure

The structure of Ruby Plus is illustrated in Figure 1 .

Figure 1 Product Structure Description

It mainly includes the following components:

1. Protective Cover

Both the emitted laser and returned laser need to pass through the specially designed arc-shaped protective cover. Therefore, any obstruction within the laser’s field of view (FOV) is strictly prohibited.

2. Aviation Connector

The LiDAR main body is connected to the interface box via aviation connectors,enabling power supply and data transmission. Ruby Plus has two aviation connectors on its base: a 4-core communication aviation connector and a 16-core power and I/O signal connection aviation connector.

3. Mounting Holes

Used to support and fix the position and orientation between the LiDAR and the bracket, it enhances installation efficiency and accuracy.

4. M4ScrewMounting Holes

Used to secure the LiDAR to the mounting bracket with M4 screws.

1.3 FOV Distribution

Ruby Plus has a horizontal FOV range of 0° to 360° and a vertical FOV range of-25° to +15°, with a minimum angle interval of 0.1° non-uniformly distributed. The 128 lasers are defined as 128 channels, and their correspondence with the actual vertical angles is shown in Figure 2 (b).

(a) FOV Area Distribution

(b) Vertical Angular Distribution

1.4 Specifications

Table 1 Ruby Plus Specifications

1. Measurement Range is based on a 10% NIST diffuse reflection target, and the test results are subject to environmental factors such as ambient temperature and light intensity.;
2. Measurement Accuracy is based on a 50% NIST diffuse reflection target, and the test results are affected by environmental factors, including ambient temperature and target distance. The accuracy value applies to most channels, but variations may exist between certain channels;
3. Device Power Consumption test results are influenced by external environmental factors, including ambient temperature, target distance, and target reflectivity;
4. Device Operating Temperature may be affected by external environmental factors, including lighting conditions and airflow variations;

1.5 Product Principle

1.5.1 Coordinate Mapping

As the LiDAR data packet contains only horizontal rotation angles and distance parameters, to present a three-dimensional point cloud, the polar coordinates (angle and distance) are transformed into Cartesian coordinates (x, y, z) according to the following equations:

$x = r*cos(w) * sin(α) + R*cos(α)$

$y = r*cos(w) * cos(α) + R*sin(α)$

$z = r*sin(w)$

where r is the measured distance, ω is the laser’s vertical angle, α is the laser’s horizontal rotation angle, R is the plane radius from the optical center to the origin, and x, y, z are the coordinates projected onto the Cartesian X, Y, Z axes.

1.5.2 Reflectivity Interpretation

Ruby Plus LiDAR provides reflectivity information to characterize the reflectance of measured objects. In Ruby Plus data, the calibrated reflectivity range is from 1 to 255.

1.5.3 Return Modes

1.5.3.1 Return Modes Principle

Ruby Plus supports multiple return modes, including Strongest Return, Last Return, First Return, and Dual Return modes. In the Dual Return mode, detailed information of the target object is displayed, and the data volume is twice that of the Single Return mode.

Ruby Plus analyzes multiple return values received and outputs the strongest, last, or first return value based on user selection, or outputs dual return values. In the Strongest Return mode, only the strongest reflected return value is output; in the Last Return mode, only the last detected return in the time domain is output.

Figure 3 Dual Return Detection

1.5.3.2 Return Mode Flags

By default, Ruby Plus is set to the Strongest Return mode. If the user needs to change the settings, please refer to Appendix A.2 in the product parameter setting for configuration. In DIFOP, the 300th byte represents the flag for the return mode, as shown in Table 2:

Table 2 Return Mode and Flags Mapping

1.5.4 Phase Locking

Ruby Plus’s phase locking function allows the device to emit lasers at specific angles when the sensor reaches a whole second. Figure 4 illustrates Ruby Plus’s setup with different phase angles. The red arrows indicate that at the whole second, the sensor rotates to 0°, 135°, and 270° to emit lasers. Refer to Figure 13 for the coordinate system details.

Figure 4 Ruby Plus Phase Lock Setting Illustration

The “Phase Lock” parameter setting is available in the Web interface under Setting > Phase Lock Setting. It allows users to set the locked phase angle, which should be an integer ranging from 0 to 359. For more details, refer to section 4.2 of the product manual.

1.5.5 Time Synchronization Mode

Ruby Plus supports three time synchronization methods: GPS + PPS, PTP (IEEE 1588 V2 protocol), and gPTP (IEEE 802.1 AS protocol). Users can configure these settings through the Web interface. For more details, refer to section 4.2 of the product manual.

1.5.5.1 GPS Time Synchronization Principle

The GPS module continuously sends GPRMC data and PPS synchronization pulse signals to the product. The PPS synchronization pulse length should be between 20 to 200 ms,and the GPRMC data must be completed within 500 ms of the synchronization pulse. The timing diagram is shown in Figure 5 .

Figure 5 GPS Time Synchronization Timing Diagram

1.5.5.2 GPS Time Synchronization Usage

The GPS_REC interface of Ruby Plus LiDAR adopts the RS232 electrical level protocol. Refer to Table 3 for the pin definition.

Table 3 Product Time Synchronization Pin Definitions

The external GPS module needs to set the output serial port baud rate to 9600 bps, 8 data bits, no parity bit, and 1 stop bit. Ruby Plus only reads GPRMC-formatted data sent by the GPS module. The standard format is as follows:

$ GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12> * hh

<1> UTC time <2> Positioning status: A = valid positioning, V = invalid positioning <3> Latitude <4> Latitude hemisphere N (Northern Hemisphere) or S (Southern Hemisphere) <5> Longitude <6> Longitude hemisphere E (Eastern Hemisphere) or W (Western Hemisphere) <7> Ground speed <8> Ground course <9> UTC date <10> Magnetic declination <11> Magnetic declination direction: E (East) or W (West) <12> Mode indication (A =Autonomous positioning, D = Differential, E = Estimated,N=Data invalid)

• hh at the end represents the XOR sum of characters from $ to *

1.5.5.3 PTP Synchronization Principle

PTP (Precision Time Protocol, IEEE 1588V2 protocol) is a time synchronization protocol used for high-precision time synchronization between devices. It can also be used for frequency synchronization between devices. Compared to various existing time synchronization mechanisms, PTP offers the following advantages:

1. Compared to NTP (Network Time Protocol), PTP can meet higher precision time synchronization requirements. NTP generally achieves sub-millisecond level time synchronization accuracy, while PTP can reach sub-microsecond level accuracy.
2. Compared to GPS (Global Positioning System), PTP has lower construction and maintenance costs.

1.5.5.4 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.

1.5.5.5 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.

2. Product Installation

2.1 Accessory Description

The standard accessories included with Ruby Plus LiDAR are listed in Table 4 for reference.

Table 4 Standard Accessory List

2.2 Mechanical Installation

The structural installation diagram of the LiDAR is shown in Figure 6 .

Figure 6 LiDAR Structural Installation Diagram

1. Screw Specifications:

GB/T70.1, M4 × 10, internal hexagon cup head,A2- 70 stainless steel.

2. Installation Requirements:
1. The installation surface flatness should be better than 0.2 mm.
2. The bottom surface should be installed with 4 M4 screws, with an installation surface protrusion of 6 ~ 8 mm. It is recommended to apply a locking torque of 18 ± 1 kgf.cm.
3. The bottom surface should be installed with 2 φ3 positioning pins, with a height not exceeding 4 mm.
4. The installation angle of the LiDAR should not exceed 15°.
5. During the installation of the LiDAR, if there are contact-type mounting surfaces both above and below the LiDAR, please ensure that the distance between the mounting surfaces is greater than the height of the LiDAR to avoid squeezing the LiDAR.
6. When routing the cables during LiDAR installation, do not make the cables too tight (leave at least 2 cm of installation margin) to ensure that the cables have some relaxation.
3. Bracket rigidity and strength requirements:
1. The fixed bracket should have good rigidity to securely install and fix the LiDAR, and maintain the LiDAR in a stable state under various working conditions. Therefore, the first-order modal frequency of the LiDAR and its fixed bracket should be at least greater than 50 Hz.
2. The LiDAR will undergo various random vibrations and mechanical impacts during use. Under these conditions, the bracket needs to withstand large loads, so the bracket material should be aluminum alloy (thickness above 5 mm) or galvanized steel plate (thickness above 3 mm). Additionally, reinforcement should be added in various directions to increase its rigidity and strength. Try to avoid designing structures with sharp corners, less than 0.3 mm radii, notches, or other stress concentration areas. The strength of the bracket needs to be verified through simulation.


Figure 7 LiDAR Bottom Locator Pin and Screw Diagram

4. Heat dissipation requirements:
1. The bracket material is recommended to be made of aluminum alloy or galvanized steel with a thermal conductivity greater than 50 W/m·K. Heat fins should be added on the bracket, and the spacing, height, and direction of the fins should be controlled reasonably to increase the heat dissipation area. The direction should be consistent with the air convection direction for more effective heat dissipation.
2. Ensure that the LiDAR base or top cover is not covered by non-metallic materials to avoid affecting the overall heat dissipation, which may lead to excessive temperature rise of the LiDAR.

2.3 Interface Description

2.3.1 Aviation Plug Interface and Definitions

Ruby Plus uses 2 aviation plug interfaces as shown in Figure 8 and Figure 9 .

Figure 8 4-coreAviationPlug

Figure 9 6-core Aviation Plug

The pin definitions for the Ruby Plus aviation plug interfaces are listed in Table 5 and Table 6.

Table 5 4-core Aviation Plug Interface Definition

Table 6 16-core Aviation Plug Interface Definition

2.3.2 Interface Box

Figure 10 Interface Box Schematic

Figure 10 shows the schematic diagram of the interface box for Ruby Plus. The accessory interface box is equipped with a power indicator light and various interfaces,as shown in Figure 10 . It can be connected to power input, RJ45 Ethernet port, and GPS input cable (for the version with the aviation plug interface box, the cable length is 3 meters; for other cable length requirements, please contact RoboSense). The specifications of the interfaces on the power box are detailed in Table 7-Table 9.

Table 7 Power Interface Definitions

Table 8 I/O Port Definitions

Table 9 Power Box Specifications

2.3.3 Power Interface

Ruby Plus uses JST S03B-J11SK-TXR model connectors for the power interface and comes with a standard DC 5.5-2.1 adapter cable. When the power is correctly input, the green indicator light remains on. If the green indicator light goes off, please check if the power input is normal. If the power input is normal and the interface box is still not working, the interface box may be damaged. In that case, please contact RoboSense.

2.3.4 I/O Interface

The interface box for Ruby Plus defines various interfaces and their corresponding positions as shown in Table 7 and Table 8: SYNC_OUT_1, SYNC_OUT_2, and SYNC_OUT_3 are angle trigger functions that can trigger the camera to take photos. PPS+GPRMC provides GPS time synchronization function. +5 V can be used to power the GPS.

2.3.5 RJ45 Ethernet Port

Ruby Plus supports T1 automotive Ethernet. When using the power box, the network interface uses a standard RJ45 connector.

2.4 Quick Connection

The Ruby Plus network parameters can be configured, and the default factory setting uses fixed IP and port number mode, as shown in Table 10.

Table 10 Default Factory Network Configuration Table

When using the product, the user needs to set the computer’s IP address to be in the same subnet as the product, for example, 192.168.1.x (where x can be any value between 1 and 254), and the subnet mask is 255.255.255.0. For unknown product network configuration information, please connect the product and use Wireshark to capture the output package of the product for analysis. The IP configuration and connection methods are as follows:

1. Connecting the LiDAR

The connection method is shown in Figure 11 .

1. Connect the LiDAR and Interface Box using the aviation plug.
2. Connect the PC and Interface Box using the RJ45 Ethernet port.c. After powering on, under normal working conditions, the red and green power indicator lights on the LiDAR’s Interface Box will be constantly on. The positions of the indicator lights are shown in Figure 10 .


Figure 11 Interface Box Connection Diagram

2. Through the “.pcap” packets captured by Wireshark software, get the Local IP of Computer by analyzing " arp" packets
1. Perform the following steps after the LiDAR and PC are connected:
2. Start Wireshark (a third-party network analysis tool) and select the correct network interface to begin capturing packet.
3. Use the search box in Wireshark and enter “arp” to search for the mutual addressing packets between the LiDAR and PC, as shown in Figure 12 .


Figure 12 Analyzing ARP Packets

4. In Figure 12 , the “SutengIn” in the Source column indicates the source information of the LiDAR, indicating that the Source IP is 192.168.1.200,which is the LiDAR’s IP. The request is accessing 192.168.1.102, which is the PC’s IP. If the local IP is not the requested access IP, then configure the PC’s local IP as 192.168.1.102 as shown in step 3. If the access is successful, proceed to step 4.
3. Configuring the PC’s Local IP
1. In the Control Panel, go to “Network and Internet” and then “Network and Sharing Center.” In the “View your active networks” section, click on the corresponding Ethernet connection to enter the corresponding “Ethernet Status,” and then click on “Properties.”
2. Double-click “Internet Protocol Version 4 (TCP/IPv4)” to enter the IP information settings and use a static IP for configuration.
3. Set the local IP address to 192.168.1.102, subnet mask to 255.255.255.0, and click “OK” to complete the PC’s static IP setting.
4. Connection Completed

3. Product Usage

3.1 Product Coordinate System

The coordinates and rotation direction of the product are shown in Figure 13 .

Figure 13 LiDAR Coordinate and Rotation Direction Illustration

3.2 Web UI Usage

3.2.1 Web UI Functions

Ruby Plus only supports parameter setting, viewing of operational information/status, and firmware upgrades through the web interface.

The Ruby Plus web address changes according to the Device IP. The default Device IP is 192.168.1.200. If you have changed the Device IP, the web address will be the newly set IP.

3.2.2 Accessing the Web UI Interface

Once the product is connected and correctly configured as required, use a computer browser to access the product’s IP address (default Device IP: 192.168.1.200) to enter the Ruby Plus web homepage. The default page is the “Device” tab.

3.2.3 Using the Web UI Interface

For detailed instructions on using the Web UI interface, please refer to Appendix A of the product manual.

3.3 RSView Usage

For data visualization with Ruby Plus, you can use free tools such as Wireshark and tcp-dump to obtain raw data. RSView can provide a more convenient way to visualize the raw data.

3.3.1 Software Functions

RSView enables real-time visualization of Ruby Plus data. It can also replay data saved in “.pcap” file format, but does not support “.pcapng” files at the moment. In RSView, the distance measurement values obtained by Ruby Plus are displayed as points. It supports various custom colors to display data, such as reflection intensity, time, distance, horizontal angle, and laser beam index. The displayed data can be exported and saved in “.csv” format, and RSView version 3.1.3 and later versions support exporting data in “.las” format.

RSView includes the following features:

1. Real-time display of data via Ethernet.
2. Save real-time data as PCAPfiles.
3. Replay data from recorded PCAPfiles.
4. Various visualization modes, such as distance, time, horizontal angle, etc.
5. Display point data in tabular format.
6. Export point cloud data as CSV files.
7. Distance measurement tool.
8. Display multiple frames of replayed data simultaneously.
9. Showor hide individual laser beams from Ruby Plus.
10. Clipping display.

3.3.2 Installing RSView

RSView can be run on Windows 64-bit and Ubuntu 18.04 or higher operating systems.You can download the latest version of RSView software compressed package from the Robosense official website (http://www.robosense.cn/resources). After downloading, make sure the extraction path does not contain Chinese characters. The software does not require installation; simply run the executable file after extraction to use it.

3.3.3 Using RSView

After opening RSView, you can access the user guide by pressing the F1 button or by clicking on the “RS-LiDAR User Guide” option in the Help menu.

3.4 Communication Protocols

Ruby Plus communicates with a computer via Ethernet using UDP (User Datagram Protocol). The communication protocols between Ruby Plus and the computer fall into two categories, as described in Table 11.

Table 11 Protocol Overview

3.4.1 MSOP and DIFOP Data Protocols

The UDP packets sent by Ruby Plus have a payload of 1248 bytes. The data structure for the Main Data Stream Output Protocol (MSOP) and Device Information Output Protocol (DIFOP) is shown in Figure 14 .

Figure 14 LiDAR Data Structure Illustration

3.4.2 Main Data Stream Output Protocol (MSOP)

Main Data Stream Output Protocol, abbreviated as MSOP, is used for product output and computer parsing. The default port number is 6699.

3.4.2.1 Header

The header consists of 42 bytes and is used to identify the start of the data. The data structure details are shown in Table 12.

Table 12 MSOP Header Data Table

Table 13 Return Mode and Return Number Correspondence

3.4.2.2 Data Block Interval

The data block is the measurement part of the MSOP packet and consists of 1164 bytes. It contains 3 Data blocks, each 388 bytes long, representing a complete set of ranging data.

Within each Data Block, there is a space of 100 bytes, including a 2-byte flag represented by 0xffee, a 1-byte Return ID (Ret_id) indicating the return sequence, and a 2-byte Azimuth value representing the horizontal rotation angle. Each azimuth value corresponds to 128 channel data, which includes one complete set of 128 channels.

Table 14 Data Block Packet Definition

1. Channel Data Definition

The channel data, Channel data, is represented by 3 bytes. The high two bytes represent the distance information, and the low byte represents the reflectivity information, as shown in Table 15.

Table 15 Channel Data Representation

2 bytes Distance	1 byte Reflectivity
Distance1 [15:8]	Distance2 [7:0]

💡

Note: Distance is represented by 2 bytes with a resolution of 0.5 cm.



Figure 15 MSOP Packet Illustration

Red Box: Header ID;

Yellow Box: Data Block Flag;

Blue Box: Azimuth value of Channel data 1;

Green Box: Distance value of Channel data 1.

The distance value in the data packet can be calculated as follows:

a. Hexadecimal representation of the distance value in the packet: 0x03, 0x86;

b.Convert the distance value to decimal: 902;

c. Perform calculations based on a distance resolution of 0.5 cm;

d. Result: 902 m × 0.5 / 100 = 4.51 m.

The angle value in the data packet can be calculated as follows:

a. Hexadecimal representation of the angle value in the packet: 0x47, 0xe3;

b. Convert the angle value to decimal: 18403;

c. Divide the converted decimal value by 100;

d. Result: 18403° / 100 = 1184.03°.

2. Angle Value Definition

In each Data Block, Ruby Plus outputs the angle value corresponding to the first channel’s laser ranging time. The angle value is derived from the angle encoder, where the zero position of the angle encoder corresponds to the zero angle, and the horizontal rotation angle resolution is 0.01°.

3.4.2.3 Tail

The Tail has a length of 4 bytes, used for packet count.

3.4.3 Device Info Output Protocol (DIFOP)

The Product Information Output Protocol, also known as DIFOP, is an “output-only” protocol designed to regularly send product-related information, including serial number (S/N), firmware version information, configuration, angle information, operational status, and fault diagnosis, to users. Users can read DIFOP to interpret specific information about the currently used product.

A complete DIFOP Packet’s data format structure consists of a sync Header, Data area, and Tail. Each data packet is 1248 bytes in total: 8 bytes for the sync Header, 1238 bytes for the Data area, and 2 bytes for the Tail. The basic structure of the data packet is shown in Table 16.

Table 16 Data Format Structure of DIFOP Packet

4. Fault Diagnosis

This chapter lists some common problems encountered during the use of the product and their corresponding troubleshooting methods. For details, refer to Table 17.

Table 17 Common Fault Troubleshooting Methods

Appendix A Web UI Operation

A.1 Product Information

The web interface of the LiDAR provides the default product information page, as shown in Figure 16 :

Figure 16 Web Interface Home Page

1. Top Board: Mainboard firmware version.
2. Bottom Board: Baseboard firmware version.
3. Software Version: Software version.
4. Motor Firmware Version: Motor version.
5. S/N: Product serial number.
6. Mac Address: MAC address.
7. Model: Product name.

A.2 Product Parameter Settings

The “Setting” tab on the web page is the LiDAR parameter setting page where you can change Device IP, Port number, Return mode, Rotation speed, and Angle trigger settings. The illustrations and descriptions are shown in Figure 17 and Figure 19 :

Figure 17 Web Interface LiDAR Settings

1. Supports Unicast (default)/Broadcast mode. Setting the Destination IP to 255.255.255.255 activates the Broadcast mode. The default factory setting is 192.168.1.102, and IP setting only supports IPv4 format.
2. Can modify the data ports for MSOP and DIFOP, with a value range of 1025 to 65535.
3. Dropdown option to select the “Return Mode” as Strongest(default)/Last/First/Dual Return modes.
4. Can set the Field of View (FOV) with an angle range of 0 to 360¡ã. Once set, only point cloud data within the designated FOV will be output.
5. Dropdown option for selecting the “Time Synchronization Source” as GPS, PTP-P2P, PTP-E2E, or PTP-gPTP to determine the time synchronization method.
6. Dropdown option for selecting the “Operation Mode” as Standby/Balance(default)/High Performance (0.1¡ã). When Standby mode is selected, the radar motor and transmitter stop working.
7. Can set “Phase Lock Setting” within the range of 0¡ã to 360¡ã.
8. Dropdown option to select the rotation speed, supporting 600 rpm (default) and 1200 rpm.
9. “Motor Reversal” controls the motor’s clockwise/counterclockwise rotation. Check “ON” and save to enable counterclockwise rotation.
10. “Restore Default” resets the configurations. Check “ON” and save to restore the current settings to default.

Figure 18 Web UI Angle Trigger Settings

1. Angle Pulse Setting: Enable angle trigger settings here. The angle trigger function is disabled by default.
2. Trigger Mode: Two start angle modes are available. Mode 1 increases the starting pulse width by 25% (default), while Mode 2 keeps the starting pulse width unchanged.
3. Group Switch: Enable/Disable “Pulse Trigger Switch.” When “All On” is checked, all SYNC trigger settings are enabled by default. “All Off” is the default setting.
4. Group: Corresponds to SYNC OUT groups (SYNC OUT 1 & SYNC OUT 2 within Ruby Plus, but only SYNC OUT 1 is available in the power box). Refer to Table 8 for specific definitions.
5. Pulse Trigger Switch: Enable/Disable the trigger function. When “ON” is checked, the options become editable; when “OFF,” they become grayed out and uneditable.
6. Pulse Start Angle: Set the corresponding starting angle, with a default value of 0°. Input values format must be integer.
7. Pulse Width: Set the corresponding pulse width, with a default value of 10 ms. Input values must be multiples of 20 ns, and the duty cycle can go up to a maximum of 50%.
8. Pulse Step: Set the corresponding pulse step, the default value format must be floating with resolution of 0.1 degree.

A.3 Product Diagnostics / Operating Status

This page allows real-time monitoring of the LiDAR's operating status, including voltage, current, real-time speed, runtime, temperature, and other information, as shown in Figure 19:

Figure 19 Web Interface Operating Status / Diagnostics

1. Voltage Monitor: Monitors the product’s voltage. In Standby mode, this section will be highlighted in red.
2. Current Monitor: Displays the product’s current. In Standby mode, the current will decrease to around 0.2 A.
3. Power Monitor: Displays the product’s power consumption. In Standby mode, the power consumption will decrease to around 5 W.
4. Temperature Monitor: Shows the current operating temperature of the product.
5. RPM: Provides real-time information on the product’s current rotation speed.
6. Phase: Provides real-time information on the product’s current phase angle.
7. Laser Status: Shows “On” (default) and “Off” states. When Standby mode is selected, it will display “Off.”
8. Star-up Times: Displays the current total number of product startups. It increases by one each time the power is restarted.
9. Elapsed Time Total T0: Displays the total operating time of the product and the accumulated working time under various temperatures.

A.4 Product Firmware Upgrade

Click on the “System” on the web page. This page allows the firmware upgrade for the mainboard, baseboard, software, web interface, and motor. Follow the steps below:

1. Contact RoboSense to obtain the upgrade firmware. Once the firmware is ready, click “Choose File,” as shown in Figure 20 .


Figure 20 Step 1 - Click “Choose File”

2. Select the folder containing the corresponding firmware for the upgrade, then click “Open” (avoid using Chinese characters in the file path), as shown in Figure 21.


Figure 21 Step 2 - Select Firmware for Upgrade

3. After selecting the firmware for upgrade, the filename will change to the selected firmware name, indicating that it is successfully loaded, as shown in Figure 22. Click “Update” to proceed with the upgrade.


Figure 22 Step 3 - Click “Update”

4. The web interface will prompt the upgrade success (or indicate if there is a duplicate version). The product will automatically restart. After the restart, log in again to the web interface homepage and check the Device section to confirm if the upgrade was successful, as shown in Figure 23 .


Figure 23 Step 4 - Upgrade Successful

Appendix B ROS & ROS2 Package

rslidar_sdk is the ROS-based driver SDK. You can download it from the RoboSense Git Hub repository or contact RoboSense for access.

1. rslidar_sdk depends on rs_driver, which is the basic RoboSense driver. Download rs_driver from the Git Hub platform.
2. If you are using ROS2, rslidar_sdk also depends on rslidar_msg, which defines the message format. Download the msg file from the Git Hub platform.
3. The SDK package contains comprehensive usage guidelines. Before using the driver SDK, please read the README file and documentation under the doc folder.

Appendix C Register Definitions

This appendix provides additional information to section 4.4, defining the various registers in the protocol. All calculations are in big-endian format. The “Value” represents the decimal value obtained after converting the offset bytes.

C.1 Motor Speed (MOT_SPD) Register

Table 18 Motor Speed Register

C.2 Ethernet (ETH) Register

Table 19 Ethernet Register

C.3 FOV Setting (FOV_SET) Register

Table 20 FOV Setting Register

C.4 Motor Phase (MOT_PHASE) Register

Table 21 Motor Phase Register

C.5 Main Board Firmware Version (TOP_FRM)

Table 22 Main Board Firmware Version

C.6 Bottom Board Firmware Version (BOT_FRM)

Table 23 Bottom Board Firmware Version

C.7 APP Software Version (SOF_FRM)

Table 24 Software Version

C.8 Motor Firmware Version (MOT_FRM)

Table 25 Motor Firmware Version

C.9 Web CGI Version (CGI_FRM)

Table 26 Web CGI Firmware Version

C.10 Serial Number (SN)

Table 27 Serial Number Register

C.11 Time Synchronization Information (TIME_SYNC_INF)

Table 28 Time Synchronization Information Register

C.12 Time (UTC_TIME)

Table 29 Time Register

C.13 Runtime Status (STATUS)

Table 30 Runtime Status Register

C.14 Fault Diagnosis (FALT_DIGS)

Table 31 Fault Diagnosis Register

Table 32 GPS Signal Input Status Register

C.15 GPRMC Data Packet - ASCII Code Data Type

The GPRMC data packet reserves 86 bytes and adapts to store the complete received GPRMC message based on the length of the GPRMC message output by the external GPS module. It allows for parsing and viewing the ASCII code.

C.16 Vertical Angle Calibration (COR_VERT_ANG)

Table 33 Vertical Angle Calibration Register

C.17 Horizontal Angle Calibration (COR_HOR_ANG)

Table 34 Horizontal Angle Calibration Register

Appendix D Accurate Point Time Calculation

In each MSOP (Multiple Sensor Overlapping Profiles) Packet, there are 3 blocks, and each block contains a complete set of 128-line laser data. The time required for 128 channels to complete one round of emission is 55.56 microseconds (us), including both emission and charging time. The laser channel ID ranges from 1 to 128.

The timestamp for each MSOP Packet corresponds to the time of the first laser point of the first channel. To calculate the time for each laser point, we need to add the time offset of each laser point to the timestamp. Please refer to Table 35 for the time offset of each laser point in a single return within an MSOP Packet.

Table 35 Time Offset of Each Laser Point in MSOP Packet

Appendix E Channel Ranging Capability Table

Table 36 Channel Ranging Capability