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
62
■ Single Return Mode
The ranging data generated by one round of firing is stored in one block. The calculation of each Block's end time is as follows:
Block
End Time (μs)
Block 10
t0 - 28.58
Block N
t0 - 28.58 - 55.56 * (10 - N)
Block 3
t0 - 28.58 - 55.56 * 7
Block 2
t0 - 28.58 - 55.56 * 8
Block 1
t0 - 28.58 - 55.56 * 9
■ Dual Return Mode
The ranging data generated by one round of firing is stored in two adjacent blocks: the odd number block is the last return, and the even number block is
the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block.
Therefore, Block 1 & Block 2 have the same firing time, Block 3 & Block 4 the same firing time, and so on.
Block
End Time (μs)
Block 10 & Block 9
t0 - 28.58
Block 8 & Block 7
t0 - 28.58 - 55.56 * 1
Block 6 & Block 5
t0 - 28.58 - 55.56 * 2
Block 4 & Block 3
t0 - 28.58 - 55.56 * 3
Block 2 & Block 1
t0 - 28.58 - 55.56 * 4