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Motor Synchronization

Motor synchronization coordinates measurement start angles across several LRS4000 sensors. It can increase the effective scan frequency or resolution of a combined system. The sensor shifts its measurement start angle between −180° and +180°; set the phase for each device individually.

LRS4000 supports two synchronization methods.

PTP Synchronization

Synchronize the LiDAR sensors over Ethernet to a central PTP master. The sensors then share a system time and operate synchronously. The OpenAPI reference exposes the SyncMode and SyncPhase settings and provides the MotorSyncStatus endpoint.

Synchronization Through Inputs and Outputs

Use one LRS4000 as the reference device and configure the remaining devices as synchronized devices.

  1. On the reference device, set the motor synchronization source to No source, define its start angle, and configure an output with the index signal as its source.
  2. On each synchronized device, set the motor synchronization source to Line (index signal at IN1) and define its start angle.
  3. Connect each synchronized device's IN1 to the reference device's output that generates the index signal.

Combine measurement data from multiple devices in the customer application.

Check Synchronization Status

Read the MotorSyncStatus endpoint in the LRS4000 REST API reference. The documented values distinguish between no clock/rotation synchronization, time synchronization only, and synchronized operation.