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RoboSense LIDAR RS-Helios-1615 User Manual

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RS-Helios-1615 User Manual
15
click Setting > Phase Lock Setting, for the "Phase Lock" parameter setting. The phase locking value
can be set from 0 to 359.
5.6 Time Synchronization
RS-Helios-1615 supports GPS+PPS and PTP time synchronization methods. Users can use the RS-
Helios-1615 Web Interface to set the time synchronization modes. (Please refer to Appendix A.2
for detailed instructions of setting by using Web Interface.)
RS-Helios-1615 can be connected to an external GPS module and can synchronize the sensor
system time with the time provided by the GPS.
5.6.1 GPS Time Synchronization
Figure 9 GPS Time Synchronization Timing Diagram
The GPS module continuously sends GPRMC message and PPS synchronization pulse signals to the
sensor. The PPS synchronization pulse width is from 20ms to 200ms, and the GPRMC message must
be sent within 500ms after the rising edge of the PPS synchronization pulse.
5.6.2 The Use of GPS for Time Synchronization
The GPS_REC interface in the Interface Box of the RS-Helios-1615 follows the RS232 level standard,
as shown in the table below:
Table 7 GPS Receive Pin Definition
Level
Receive Pin Definition
GPS REC
GPS PULSE
RS232
Receive the RS232 serial data
output by the GPS module
Receive the positive synchronization pulse
signal output by the GPS module, the level
is required to be 3.0V~15.0V
Note 1: The GPS_REC interface in the RS-Helios-1615 Interface Box is the SH1.0-6P female connector, and the pin
definition is as shown in Figure 2.
The external GPS module needs to set the serial output baud rate to 9600bps, 8 bits, no parity, 1
stop bit. RS-Helios-1615 only accepts the GPRMC sentence sent by the GPS module. The standard
Reset part of sub-second
According to GPRMC message, synchronize the part of second

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RoboSense LIDAR RS-Helios-1615 Specifications

General IconGeneral
BrandRoboSense
ModelLIDAR RS-Helios-1615
CategoryRobotics
LanguageEnglish

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