RS-LiDAR-32 User Manual
Appendix A ▪ Point Time Calculate
A.1 RS-LiDAR-32 Calculation of time stamp in single mode
In each MSOP packet, there are 12 blocks, each block has one sequence for the whole 32 laser firings,
so in a MSOP packet, there are 12 groups for the whole 32 laser firings. At every firing moment, there
are two lasers firing together, all 32 lasers are fired and recharged every 55.52 µs. The cycle time
between firing is 1.44 µs. There are 32 firings (32 x 1.44 µs = 46.08 µs). There is another 9.44µs left for
charging.
Table A-1: Time Offset for Each Channel in single Return Mode.
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