RoboSense LiDAR RS-Ruby Plus User manual

RS-Ruby Plus User Manual
User Manual

RS-Ruby Plus User Manual
I
Issue
Modifications
Release Date
Edite
d by
1.0.0
Original issue
2022-04-08
PD
1.0.1
1.Updated performance parameters；
2.Added Appendix F correspondence table of
channel ranging ability
3.Corrected the calculation formula for Current,
Voltage and Temperature
4.Added the introduction of high performance
mode
5.Added description of motor rotation direction
2022-6-29
PD
1.0.2
1.Corrected current calculation formula
2.Added description of accessories
2022-7-4
PD
1.0.3
1. Modify the calculation formula of voltage and
temperature
2. Modify the frame header structure of the
MSOP packet
2022-7-7
PD
1.0.4
1.Correct the MSOP description
2.Correct the picture of rotation direction
2022-9-9
PD

RS-Ruby Plus User Manual
II
Terminologies
MSOP
Main data Stream Output Protocol
DIFOP
Device Info Output Protocol
FOV
Field Of View
PTP
Precision Time Protocol
NTP
Network Time Protocol
GPS
Global Positioning System
UTC
Universal Time Coordinated
Protocol
Protocol version number, 01 represents old version, 02 represents the latest
version
Wave_mode
Echo flag
Temp
Sensor temperature information
Resv
Reserved data flag
Ret_id
Return ID in the data packet
Azimuth
LiDAR horizontal rotation angle
Timestamp
Time stamp which is used to record system time
Header
Frame header in protocol packet
Tail
Frame tail in protocol packet

RS-Ruby Plus User Manual
III
Content
1 Safety Notices..............................................................................................................................................................1
2 Product Appearance and Interface...................................................................................................................... 2
2.1 Product Appearance.................................................................................................................................... 2
2.2 Aviation Plug and Pin Definition.............................................................................................................. 2
2.2.1 Power...................................................................................................................................................4
2.2.2 RJ45 Ethernet Port.......................................................................................................................... 5
2.2.3 I/O definition .................................................................................................................................... 5
3 Unboxing & Installation............................................................................................................................................6
3.1 Optional accessories ....................................................................................................................................6
3.2 Sensor Mounting...........................................................................................................................................6
3.3 Quick Connection ..........................................................................................................................................7
4 Sensor Specifications and Features......................................................................................................................8
4.1 Sensor Specification1................................................................................................................................... 8
4.1.1 Parameters.........................................................................................................................................8
4.2 Point Cloud Display...................................................................................................................................... 9
4.2.1 Coordinate Mapping...................................................................................................................... 9
4.3 Reflectivity.......................................................................................................................................................9
4.4 Laser Return Modes .................................................................................................................................. 10
4.4.1 Principle of Laser Return Modes............................................................................................. 10
4.4.2 Return Mode Flag.........................................................................................................................11
4.5 Phase Locking.............................................................................................................................................. 11
4.6 Time Synchronization............................................................................................................................... 12
4.6.1 GPS Time Synchronization.........................................................................................................12
4.6.2 The Use of GPS for Time Synchronization............................................................................12
4.6.3 PTP Time Synchronization......................................................................................................... 13
4.6.4 PTP wiring Method.......................................................................................................................13
4.6.5 Time Calculation........................................................................................................................... 14
5 Communication Protocol...................................................................................................................................... 16
5.1 MSOP and DIFOP........................................................................................................................................16
5.2 Main Data Stream Output Protocol（MSOP）............................................................................... 17
5.2.1 Header ..............................................................................................................................................17
5.2.2 Data Blocks......................................................................................................................................18
5.2.3 Tail......................................................................................................................................................20
5.3 Device Info Output Protocol（DIFOP）.............................................................................................20
6 Vertical Angles and Precision Point Timing Calculation ..............................................................................22
6.1 Channel Number and Vertical Angle ................................................................................................... 22
6.2 Exact Point Timing Calculation.............................................................................................................. 22
7 Troubleshooting ....................................................................................................................................................... 26
Appendix A Web Interface....................................................................................................................................... 28
A.1 Device Screen..............................................................................................................................................28
A.2 Web Interface for Sensor Setting ......................................................................................................... 28
A.3 Diagnostic Screen ...................................................................................................................................... 31

RS-Ruby Plus User Manual
IV
A.4 System Screen.............................................................................................................................................32
Appendix B Information Registers.........................................................................................................................34
B.1 Motor Speed (MOT_SPD) ........................................................................................................................34
B.2 Ethernet（ETH）.......................................................................................................................................34
B.3 FOV Setting（FOV_SET）....................................................................................................................... 35
B.4 Motor Phase Offset (MOT_PHASE)......................................................................................................35
B.5 Top Board Firmware Version (TOP_FRM).......................................................................................... 35
B.6 Bottom Board Firmware Version(BOT_FRM)....................................................................................36
B.7 Software Version(SOF_FRM)..................................................................................................................36
B.8 Web CGI Version(SOF_FRM)...................................................................................................................36
B.9 Corrected Vertical Angle(COR_VERT_ANG) ...................................................................................... 36
B.10 Corrected Horizontal Angle(COR_HOR_ANG）............................................................................ 37
B.11 Serial Number(SN）............................................................................................................................... 38
B.12 Time synchronization Setting（Sync_set）...................................................................................38
B.13Time synchronization Status（Sync_Status）............................................................................... 39
B.14 UTC Time（UTC_TIME）......................................................................................................................39
B.15 Rotation Direction（ROTATION）..................................................................................................... 39
B.16 STATUS（STATUS）.................................................................................................................................39
B.17 Fault Diagnosis（FALT_DIGS）...........................................................................................................40
B.18 GPRMC Data Packet-ASCII Code Data Type.................................................................................... 41
Appendix C RSView.....................................................................................................................................................42
C.1 Software Features......................................................................................................................................42
C.2 Install RSView .............................................................................................................................................. 42
C.3 Set Up Network.......................................................................................................................................... 42
C.4 Visualize Streaming Sensor Data.......................................................................................................... 43
C.5 Capture Streaming Sensor Data to PCAP File ...................................................................................44
C.6 Replay PCAP File .........................................................................................................................................45
Appendix D RS-Ruby Plus ROS&ROS2 Package................................................................................................. 48
D.1 Install Software...........................................................................................................................................48
D.2 Download & Compile RoboSense LiDAR Driver Package............................................................. 48
D.3 Configure PC IP........................................................................................................................................... 49
D.4 Real Time Display.......................................................................................................................................49
D.5 View Offline Data.......................................................................................................................................50
Appendix E Mechanical Drawings ......................................................................................................................... 51
Appendix F Correspondence Table of Channel Ranging Ability .................................................................. 52
Appendix G Sensor Cleaning ................................................................................................................................... 52
G.1 Attention.......................................................................................................................................................53
G.2 Cleaning Method....................................................................................................................................... 53
G.3 Required Materials....................................................................................................................................53

RS-Ruby Plus User Manual
V
1 Manufacturer Information
Suteng Innovation Technology Co., Ltd. (RoboSense)
Building 9, Block 2, Zhongguan Honghualing Industry Southern District, 1213 Liuxian Avenue,
Taoyuan Street, Nanshan District, Shenzhen, ChinaLandline: 0755-86325830
Mobile Phone: [phone](Marketing & Sales Cooperation)
Email: [e-mail]
Working hours from Monday to Friday 09:00-18:00(GMT/UTC +8)
2 Disclaimer of Liability
This manual is protected by copyright. Any rights arising from this copyright are owned by
RoboSense. Reproduction of this manual or part of the manual is only permitted within the legal
scope of the copyright law. Without obtaining any authorization, this document shall not be
abridged or translated. The trademarks mentioned in this document are the property of their
respective owners. RoboSense reserves all rights.
3 Certifications
Coming soon
Note:
This manual is updated from time to time without prior notice, to get the latest version, please
visit RoboSense company website to download or contact the RoboSense Technical Support or
Sales.

RS-Ruby Plus User Manual
1
1 Safety Notices
To avoid risks of accidents, damage to sensor or violating of your product warranty, please read
and follow the instructions in this manual carefully before operating the product.
Please pay attention to the overheating sign on the LiDAR surface to avoid a hot LiDAR
surface that may lead to sensor failure or undesirable consequences.
Retain Instructions - The safety and operating instructions should be retained for future
reference.
Heed Warnings - All warnings on the product and in the operating instructions should be
adhered to.
Servicing – Except for what’s described in this manual, the sensor has no field serviceable
parts. For servicing, please contact RoboSense sales or the authorized distributors.

RS-Ruby Plus User Manual
2
2 Product Appearance and Interface
2.1 Product Appearance
Figure 2-1 LiDAR Coordinate and Rotation Direction
2.2 Aviation Plug and Pin Definition
RS-Ruby Plus has two aviation plugs attached to the bottom of the LiDAR, the definitions of the
specific pins of the aviation plug are as shown in the table below:
Figure 2-2 4 pin Airline
Table 2-1 4 Definition of pin Airline
Pin A
Color
Definition
Pin B
1
Red
TRD_P
a1
2
Black
TRD_N
b1
3
White
PGND
a2
4
Green
PGND
b2
Shell
Shield
PGND
a3
b3
Aviation plug interface side
270
90

RS-Ruby Plus User Manual
3
Figure 2-3 16 Pin Airline
Table 2-2 16 Definition of pin Airline
Pin A
Color
Definition
Pin B
1
Blue
Power
a1
2
Blue and White
Power
b1
3
Pink
Power
a2
4
Grey
Power
b2
5
Red
GND
a3
6
Red and White
GND
b3
7
Black
GND
a4
8
Black and White
GND
b4
9
Green
/
a5
10
Green and White
/
b5
11
Purple
PPS
a6
12
Purple and White
GPRMC
b6
13
Orange
SYNC_OUT1
a7
14
Orange and White
SYNC_OUT2
b7
15
Brown
SYNC_OUT3
a8
16
Brown and White
PGND
b8
Shell
Shield
/
a9
/
b9
/
/
/
a10
/
/
/
b10
RS-Ruby Plus comes with an Interface Box, which has LED lights and provides convenient
connections to power, RJ45 Ethernet, and GPS. (The length of the integrated cable attached to
the Interface Box of the aviation plug version LiDAR is 3 meters, for other cable lengths, please
contact RoboSense technical support).

RS-Ruby Plus User Manual
4
Figure 2-4 Interface Box Schematic
Table 2-3 Definition of PWR
No.
Color
Definition
A1
Black
GND
A2
Black
GND
A3
Blue
Power
Table 2-4 Definition of I/O
No.
Color
Definition
A1
Blue
+5V
B1
Orange
SYNC_OUT_1
A2
Purple
GPS_PPS
B2
Orange and White
SYNC_OUT_2
A3
Purple and White
GPRMC
B3
Brown
SYNC_OUT_3
A4
Red
GND
B4
/
/
A5
Red and White
GND
B5
/
/
A6
Black and White
GND
B6
/
/
Specifications of Interface Box ports:
Table 2-5 Interface Box Port Specification
No.
Port
Specification（Outlet）
Specification（Connect the radar）
1
Power Input
JST S03B-J11SK-TXR
JST S20B-J11DK-TXR
2
I/O
JST S12B-J11DK-TXR
3
Network
Standard RJ45 connector
JST S06B-J11Dk-TXR
2.2.1 Power
The RS-Ruby Plus power supply interface on the Interface Box is a JST S03B-J11SK-TXR Model
connector, and comes with a standard DC 5.5-2.1 connector. When the power input is normal,