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Contents 1 Introduction........................................................................................................4 1.1 1.2 1.3 1.4 Operating Principle.............................................................................................. 4 LiDAR Structure..................................................................................................... 5 Channel Distribution........................................................................................... 6 Specifications..
Safety Notice PLEASE READ AND FOLLOW ALL INSTRUCTIONS CAREFULLY AND CONSULT ALL RELEVANT NATIONAL AND INTERNATIONAL SAFETY REGULATIONS FOR YOUR APPLICATION. ◼ Caution To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device. The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the device.
◼ Safety Precautions In all circumstances, if you suspect that the device malfunctions or is damaged, stop using it immediately to avoid potential hazards and injuries. Contact an authorized Hesai Technology service provider for more information on device disposal. Handling This device contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing, and squeezing may cause damage to the device.
Prolonged Exposure to Hot Surface Prolonged exposure to the device’s hot surface may causediscomfort or injury. Ifthe device has been powered and operating for along time, avoid skin contact with the device and its power adapter. Vibration Strong vibration may cause damage to the deviceand should be avoided. If youneed the mechanicalvibration and shock limits of this product, please contact Hesai technical support.
1 Introduction This manual describes the specifications, installation, and data output format of Pandar128. This manual is under constant revision. Please contact Hesai for the latest version. 1.1 Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the object. 3) Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.
1.2 LiDAR Structure 128 pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric View) Figure 1.4 Rotation Direction (Top View) The LiDAR’s coordinate system is shown above. The Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.6 on the next page. After geometric transforms, all the measurements are relative to the origin.
1.3 Channel Distribution The vertical resolution is ▪ 0.125° from Channel 26 to Channel 90 ▪ 0.5° from Channel 2 to Channel 26, as well as from Channel 90 to Channel 127 ▪ 1° between Channel 1 and Channel 2, as well as between Channel 127 and Channel 128 ▪ detailed in Appendix I Figure 1.5 Channel Vertical Distribution Figure 1.6 Laser Firing Position Each channel has an intrinsic angle offset, both horizontally and vertically.
1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel 128 Laser Class Class 1 Eye Safe Range 0.3 to 200 m (at 10 Ingress Protection IP6K9K Range Accuracy ±5 cm (0.3 to 1 m) Dimensions Height: 122.7 mm reflectivity) ±2 cm (1 to 200 m) Top/Bottom Diameter: 118.00 / 116.00 mm FOV (Horizontal) 360° Operating Voltage DC 9 to 48 V Resolution (Horizontal) Configurable on-the-fly Power Consumption 25 W (at 0.
2. Set up Please find operational manual 3. Data Structure 1000 Mbps Ethernet UDP/IP is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets. All the multi-byte values are unsigned and in little endian format.
2.1 2.1.1 Point Cloud Data Packet Ethernet Header Each LiDAR has a unique MAC address. The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form.
3.2.
◼ Body Body: 772 bytes (2 blocks) Block 1 Block 2 Azimuth 1 Azimuth 2 Channel 2 Channel 2 Channel 1 Channel 1 … … Channel 128 Channel 128 Under the Dual Return mode, the ranging data from each firing is stored in the two blocks of one packet: ▪ Block 1 is the last return, and Block 2 is the strongest return ▪ If the last and strongest returns coincide, the second strongest return will be placed in Block 2 ▪ The Azimuth of Block1 and Block 2 is the same Block size = Size of Azimuth + 128
◼ Tail Tail: 24 bytes Field Reserved High Temperature Shutdown Flag Bytes Description 1 0x01 for high temperature; 0x00 for normal operation ▪ Whenhigh temperature isdetected, the shutdown flag willbe setto 0x01, and the system willshut down after 60 s.
3.1.3 Point Cloud Data Analysis The analysis of point cloud UDP data consists of three steps. ◼ Analyze the vertical angle, horizontal angle, and distance of a data point Take Pandar128’s Channel 5 in Block 2 as an example: 1) Vertical angle of Channel 5 is 12.
2.2 GPS Data Packet GPS Data Packets are triggered every second. All the multi-byte values are unsigned and in little endian format. Before NMEA messages are available from the external GPS module Each rising edge of the LiDAR’s internal 1 Hz signal triggers a GPS Data Packet. The time and date in the GPS Data Packets are unreal, starting from 00 01 01 00 00 00 (year, month, day, hour, minute, second) and increasing with the internal 1 Hz signal.
2.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form.
2.2.
◼ GPRMC Data Format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <02> Location Status A (hex = 41) for Valid Position V (hex = 56) for Invalid Position <01> … <09> UTC Time Hour, minute, and second Can be in hhmmss (hour, minute, second) format NUL (hex = 0) for GPS being unlocked UTC Date … Date information Can be in ddmmyy (day, month, year) format The LiDAR’s GPS data interface is compatible with a variety of GPRMC formats, as l
◼ GPGGA Data Format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # <01> … <06> Field Description GPS Fix Quality 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix UTC Time Hour, minute, and second Can be in hhmmss (hour, minute, second) format 6 = estimated (dead reckoning) … The LiDAR’s GPS data interface is compatible with a variety of GPGGA formats, as long as: <01> is the hour, minute, and second information For example, the following two formats a
2.2.3 GPS Data Analysis Figure 3.
4 Web Control Web control is used for setting parameters, checking device info, and upgrading. To access web control 1) 2) 3) Connect the LiDAR to your PC using an Ethernet cable Set the IP address according to Section 2.4 Get Ready to Use Enter this URL into your web browser: 192.168.1.201/index.html NOTE Google Chrome or Firefox is recommended.
4.
4.2 Settings 1. Reset All Settings By clicking the “Reset All Settings” button on the top-right corner, all configurable parameters in the Settings page and the Azimuth FOV page will be reset to their default values. The default values are shown in the left-hand screenshot and in Section 4.3.1. 2. Control IP – VLAN VLAN Tagging can be used when the receiving host also supports VLAN function. ▪ Check the VLAN checkbox and input a VLAN ID (range: 1~4094) for the LiDAR unit.
4. Settings – Others Spin Rate 600 rpm / 1200 rpm Sync Angle 0~360 degrees Return Mode Last / Strongest / Dual Return By default, the LiDAR’s zero-degree position (defined in Section 1.2) is not in sync with PPS. If syncing is needed, check the check box Trigger Method and input a sync angle. Angle-Based / Time-Based In the angle-based trigger mode, lasers fire every 0.2 deg at 10 Hz or 0.4 deg at 20 Hz. In the time-based mode, lasers fire every 55.56 us.
5. Clock Source and PTP Parameters Clock Source ▪ GPS / PTP In the PTP mode, LiDARs do not output GPS Data Packets, as detailed in Appendix III PTP Protocol. When GPS is selected as the clock source: GPS Mode GPRMC / GPGGA Format of the data received from the external GPS module. Both the NMEA sentence and the GPS positioning status are put into the GPS Data Packet. See Section 3.2.2 for details.
(Continued) ▪ When PTP is selected as the clock source: Profile 1588v2 (default) or 802.1AS PTP Network Transport UDP/IP (default) or L2 IEEE timing and synchronization standard used UDP/IP follows the PTPv2 standard defined in IEEE 1588-2008 L2 follows the gPTP standard defined in IEEE 802.
4.3 High Resolution The horizontal resolution of far field measurement is configurable on-the-fly. Configuration Mode Standard High Resolution Frame Rate Horizontal Resolution of Far Field Measurement 20 Hz 0.4° for all channels 10 Hz 10 Hz 20 Hz 0.2° for all channels 0.1 ° for the 64 middle channels (Channel 27 to Channel 90) 0.2 ° for the other channels NOTE Channel # counts from 1 to 128 0.2° for the 64 middle channels (Channel 27 to Channel 90) 0.
4.4 Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed.
4.5 Monitor The LiDAR’s input current, voltage, and power consumption are displayed.
4.6 Upgrade The screenshot below shows the software and firmware versions described in this manual. Click the “Upload” button, select an upgrade file (provided by Hesai), and confirm your choice in the pop-up window. When the upgrade process is complete, the LiDAR will automatically reboot, and the past versions will be logged in the Upgrade Log. A software reboot is triggered by clicking the “Restart” button on the top right corner.
5 PandarView PandarView is a software that records and displays the point cloud data from Hesai LiDARs, available in 64-bit Windows 7/8/10 and Ubuntu-16.04/18.04. 5.1 Installation Copy the installation files from the USB disk included in the LiDAR’s protective case, or download these files from Hesai’s official website: www.hesaitech.com/en/download System Windows Installation Files Installation Steps PandarViewX64_Release_V1.7.6.msi python-2.7.13.
5.2 Use Set the PC’s IP address according to Section 2.4 Use. ◼ Check Live Data ◼ Open a PCAP File Click on Click on and select your LiDAR model to begin receiving data over to pop up the “Choose Open File” window. Select a PCAP Ethernet. file to open. ◼ Record a PCAP File ◼ Import a Correction File Click on to pop up the “Choose Output File” window. Each LiDAR contains a correction file in .CSV format. When opening a PCAP file in PandarView, the correction file is automatically uploaded.
◼ Play a PCAP File Button Description Jump to the beginning of the file While paused, jump to the previous frame While playing, rewind. May click again to adjust the rewind speed (2x, 3x, 1/2x, 1/4x, and 1x) / After loading a point cloud file, click to play the file While playing, click to pause While paused, jump to the next frame. While playing, forward. May click again to adjust the forward speed (2x, 3x, 1/2x, 1/4x, and 1x) Jump to the end of the file Save a single frame to .
5.3 Features ◼ Viewpoint Selection ◼ 3D Projection and Distance Measurement Users can select from the right view, front view, and top view. Both perspective projection (default) and orthographic projection are supported. The distance ruler is available only under orthographic projection. After clicking on , drag your mouse while holding the Ctrl key to make a measurement in units of meters. Click on ◼ Mouse Shortcuts again to quit.
◼ Return Mode ◼ UDP Port Users can select from Block 1 Return (i.e. Last Return), Block 2 Return (i.e. Strongest Return), and Dual Return. Enter the UDP port number, and click “Set” to apply it. ◼ Channel Selection Click on to show/hide point cloud data from the selected laser channels. Check/Uncheck the boxes on the left to show/hide each channel. Check the “Enable/Disable all” option at the bottom of the table to show/hide all channels.
◼ Point Selection and Data Table Click on and drag the mouse over the point cloud to highlight an area of points. Click on to view the data of the highlighted points, as shown below. Some of the data fields are defined below: Field Description azimuth Rotor’s current reference angle points azimuth_calib To cancel the selection, click on The XYZ coordinates of each point Azimuth + horizontal angle offset again and click on any place outside the selected area.
◼ Color Schemes Click on to show the color legend at the lower right corner. Click on to open or close the Color Editor. The default color scheme is intensity based. Users can choose from other colors schemes based on azimuth, azimuth_calib, distance, elevation, laser_id, or timestamp.
6 Communication Protocol To ensure real-time communication, Hesai’s TCP protocol uses binary format and has disabled Nagle’s algorithm. 6.1 Packet Structure A client can send command messages to the server (LiDAR). Each command message includes a fixed 8-byte header and a variable command-specific payload. The header describes the command type and payload length. Table 6.
6.2 Frequently Used Commands Command Command Code Payload Length Function PTC_COMMAND_PTP_DIAGNOSTICS 0x6 1 byte PTC_COMMAND_GET_LIDAR_CALIBRATION PTC_COMMAND_GET_INVENTORY_INFO PTC_COMMAND_GET_CONFIG_INFO PTC_COMMAND_GET_LIDAR_STATUS 6.2.
6.2.2 PTC_COMMAND_PTP_DIAGNOSTICS Command message payload 1-byte PTP Query Type PTP Query Type Value PTP TLV PORT_DATA_SET 0x2 PTP STATUS PTP TLV TIME_STATUS_NP PTP TLV GRANDMASTER_SETTINGS_NP 0x1 0x3 0x4 Feedback message payload a.
b.
c.
6.2.3 PTC_COMMAND_GET_INVENTORY_INFO Command message payload None Feedback message payload Field Length Description date_of_manufacture 16 bytes Date of manufacture in ASCII (yyyy-mm-dd) sn mac sw_ver hw_ver control_fw_ver sensor_fw_ver angle_offset model motor_type num_of_lines reserved 6.2.4 18 bytes 6 bytes 16 bytes 16 bytes 16 bytes 16 bytes 2 bytes 1 byte 1 byte 1 byte 11 bytes Serial number of the device MAC address of the device Software version in ASCII (xx.xx.
Feedback message payload Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued on the next page) Field Length Description mask 4 bytes gateway 4 bytes Subnet mask of the device Default 255.255.255.0 dest_ipaddr 4 bytes dest_lidar_udp_port 2 bytes dest_gps_udp_port 2 bytes spin_rate 2 bytes sync 1 byte sync_angle 2 bytes stop_angle 2 bytes ipaddr start_angle clock_source 4 bytes 2 bytes 1 byte IP address of the device Default 192.168.1.201 Gateway of the device Default 192.168.1.
Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued) udp_seq 1 byte Whether the point cloud data will include a UDP sequence number field 0 – UDP sequence OFF (default) 1 – UDP sequence ON #1 (UDP sequence increments only when UDP packets are generated) 2 – UDP sequence ON #2 (UDP sequence increments even though no UDP packet is generated outside the specified azimuth FOV) NOTE Notapplicable toPandarQTand Pandar128.These twomodelsalways have theUDPsequence ON.
Feedback message payload Field Length Description motor_speed 2 bytes Real-time motor speed, in units of rpm system_uptime temperature 4 bytes 4 * 8 bytes System uptime in seconds Real-time temperature array (unit: 0.
7 Sensor Maintenance Storage Store the device in a dry, well ventilated environment. The ambient temperature should be between -40°C and +85°C, and the humidity below 85 . Please check the specifications page in this user manual for product IP rating, and avoid any ingress beyond that rating. Transport Package the device in shock-proof materials to avoid damage during transport. Cleaning If the device’s enclosure is stained with dirt, fingerprints, or oil, perform the follow cleaning steps.
8 Troubleshooting Table 8.
Table 8.1 Troubleshooting (Continued) Symptoms Points to Check ▪ Abnormal point cloud (misaligned points, flashing points, or incomplete FOV) GPS cannot be locked Make sure the LiDAR’s enclosure is clean. If not, refer to Chapter 7 Sensor Maintenance for the cleaning method ▪ Make sure the LiDAR’s calibration file is imported. (Pandar40P automatically imports the calibration file, while Pandar40 requires manual importing) ▪ Check for packet loss.
Appendix I Channel Distribution ◼ Horizontal Angle Each channel’s horizontal angle = current reference angle of the rotor + horizontal angle offset ▪ The current reference angle of the rotor is the Azimuth field in the Body of Point Cloud UDP Data ▪ Horizontal angle offset: listed in TableI.1 ▪ Define clockwise in the top view as positive ◼ Vertical Angle Each channel’s vertical angle is a constant, listed in Table I.
▪ The horizontal resolution of far field measurement is listed below. User can select Standard or High Resolution mode from the web control page (see Section 4.3) Configuration Mode Standard High Resolution Frame Rate Horizontal Resolution of Far Field Measurement 20 Hz 0.4° for all channels 10 Hz 10 Hz 20 Hz ▪ 0.2° for all channels 0.1 ° for the 64 middle channels (Channel 27 to Channel 90) 0.2 ° for the other channels NOTE Channel # counts from 1 to 128 0.
Table I.1 Pandar128 Channel Distribution (To Be Continued) Channel # 01 (Top Beam) 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 Horizontal Angle Offset Vertical Angle Instrument Range 3.257 14.436 100 1.091 13.082 (Azimuth, in degrees) (Elevation, in degrees) 3.263 3.268 1.093 3.273 1.094 3.278 1.095 3.283 1.096 3.288 1.097 3.291 1.098 -1.101 1.1 -1.104 -3.306 -1.106 13.535 12.624 12.165 11.702 11.239 10.771 10.305 9.830 9.356 8.880 8.401 7.921 7.438 6.953 6.467 5.978 5.487 4.
Table I.1 Pandar128 Channel Distribution (To Be Continued) Channel # 21 22 23 24 25 26 27 Horizontal Angle Offset Vertical Angle Instrument Range -3.311 4.501 100 -3.318 3.509 (Azimuth, in degrees) (Elevation, in degrees) -1.109 -1.111 -3.324 -1.113 7.72 28 5.535 30 -3.33 29 31 3.325 1.107 32 33 -5.538 34 -1.115 35 36 37 38 39 40 -7.726 7.731 5.543 3.329 -3.336 1.108 -5.547 4.007 3.013 2.512 2.013 1.885 1.761 1.637 1.511 1.386 1.258 1.130 1.008 0.880 0.756 0.630 0.505 0.379 0.
Table I.1 Pandar128 Channel Distribution (To Be Continued) Channel # 41 42 (Horizontal Beam) 43 44 45 Horizontal Angle Offset Vertical Angle Instrument Range -7.738 0.124 200 2.85@10 200@10 7.743 -0.129 200 2.85@10 200@10 3.335 -0.380 (Azimuth, in degrees) (Elevation, in degrees) -1.117 5.551 46 47 -3.342 48 -5.555 50 -1.119 52 5.56 49 51 53 54 55 1.11 -7.75 7.757 3.34 -3.347 1.111 56 -5.564 58 -1.121 57 59 60 -7.762 7.768 5.569 0.000 -0.254 -0.506 -0.632 -0.760 -0.
Table I.1 Pandar128 Channel Distribution (To Be Continued) Channel # 61 Horizontal Angle Offset Vertical Angle Instrument Range 3.345 -2.409 200 1.113 -2.663 (Azimuth, in degrees) (Elevation, in degrees) 62 -3.353 64 -5.573 66 -1.123 63 65 67 68 69 -7.775 7.78 5.578 3.351 70 -3.358 72 -5.582 74 75 -1.125 71 73 76 77 1.115 -7.787 7.792 5.586 3.356 78 -3.363 80 -5.591 79 1.116 -2.535 -2.789 -2.916 -3.044 -3.172 -3.299 -3.425 -3.552 -3.680 -3.806 -3.933 -4.062 -4.190 -4.
Table I.1 Pandar128 Channel Distribution (To Be Continued) Channel # 81 82 83 84 85 Horizontal Angle Offset Vertical Angle Instrument Range -7.799 -4.951 200 140@10 7.804 -5.209 200 2.85@10 0.3@10 200 200 2.85@10 200 2.85@10 140@10 2.85@10 (Azimuth, in degrees) (Elevation, in degrees) -1.127 5.595 3.36 86 -3.369 88 -5.599 87 89 90 91 92 93 94 95 96 97 98 99 100 1.118 -7.811 -1.129 -3.374 -1.13 -3.379 -1.132 -3.383 3.381 -3.388 -5.081 -5.336 -5.463 -5.589 -5.718 -5.843 -5.
Table I.1 Pandar128 Channel Distribution (To Be Continued) Channel # 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 Horizontal Angle Offset Vertical Angle Instrument Range 1.129 -11.672 100 2.85@10 0.3@10 140@10 1.131 -12.673 100 2.85@10 140@10 (Azimuth, in degrees) (Elevation, in degrees) 3.395 3.401 1.133 3.406 1.135 3.41 1.137 3.416 1.139 -1.142 1.142 -1.143 -3.426 -3.426 -1.144 -3.429 -1.145 -3.433 -12.174 -13.173 -13.670 -14.166 -14.660 -15.
Table I.1 Pandar128 Channel Distribution (Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range 121 -1.145 -21.379 100 in UDP Data 122 123 124 (Azimuth) -3.436 -1.146 -3.44 125 126 -1.146 127 128 (Bottom Beam) -3.446 -3.443 -3.449 (Elevation) -21.848 -22.304 -22.768 -23.219 -23.678 -24.123 -25.016 (in meters) 100 100 100 100 100 100 100 Range (in meters)with Reflectivity Min 2.85@10 2.85@10 0.3@10 2.85@10 2.85@10 0.3@10 2.85@10 0.
Appendix II Absolute Time and Laser Firing Time II.1 Absolute Time of Point Cloud Data Packets For Pandar128, there are 2 blocks of ranging data in the Body of each Point Cloud Data Packet, as shown below. Each block contains the ranging data from 128 channels, one return per channel.
◼ Calculation The absolute time of a Point Cloud Data Packet is calculated as the sum of date, time (accurate to the second) and μs time. ▪ Date andTime canbe retrieved eitherfrom the current PointCloud Data Packet(6 bytes, year,month, date, hour, minute, second),or from the previous GPS Data Packet (6 bytes of Date and 6 bytes of time). ▪ μs time can be retrieved from the current Point Cloud Data Packet (4 bytes of Timestamp) NOTE The calculation of absolute time is different when PTP protocol is used.
II.3 Laser Firing Time of Each Channel Assume that the start time of Block i is T(i), i ∈ {1, 2}. The laser firing time of Channel j in Block i is t(i, j) = Ti + Δt(j), j ∈ {1, 2, …, 128}. ◼ Analysis The time difference Δt(j) depends on three factors. 1) horizontal resolution 2) azimuth angle of the block 3) distance of the data point ◼ Calculation Whether the LiDAR is operating in High Resolution mode or Standard mode (defined in Section 4.
Under Standard mode, represent the azimuth angle of Block i as α(i) = 0.4° * N + 0.2° * k ▪ N is a positive integer, and k ∈ {0, 1} ▪ For example, 46.2° = 0.4 * 115 + 0.2 * 1. Therefore N = 115, k = 1 3) Analyze the Near-Range Flag of the data point ▪ For a data point whose distance d > 2.85 m (i.e. generated from a far-field firing), the Near-Range Flag is set to 0 ▪ For a data point whose distance d ≤ 2.85 m (i.e.
Δt(j) – Time Difference between the Channel’s Laser Firing Time and the Block’s Start Time Table II.1 High Resolution mode, k = 0 (To Be Continued) Row No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Firing Channel NearSequence # Range Flag 1 4 0 0.275 23 0 0.275 1 13 1 92 1 1 96 1 105 1 121 1 2 3 114 105 6 3 15 3 90 3 3 25 98 3 107 3 125 3 4 5 5 Δt(j) (μs) 116 6 5 12 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0.275 0.275 0.275 0.275 0.275 0.275 1.385 2.1 2.1 2.1 2.1 2.
Table II.1 High Resolution mode, k = 0 (Continued) Row No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Firing Channel NearSequence # Range Flag Δt(j) (μs) 13 80 0 12.505 14 30 0 14.53 13 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 16 16 84 43 53 57 58 72 76 87 28 39 46 59 65 69 74 88 32 35 0 0 0 0 0 0 0 0 12.505 14.53 14.53 14.53 14.53 14.53 14.53 14.53 0 16.555 0 16.555 0 0 0 0 0 0 0 0 16.555 16.555 16.555 16.555 16.555 16.555 18.58 18.
Table II.2 High Resolution mode, k = 1 (To Be Continued) Row No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Firing Channel NearSequence # Range Flag 1 2 0 0.275 20 0 0.275 1 11 1 93 1 1 104 1 118 1 1 2 3 113 128 93 3 3 10 3 91 3 3 22 99 3 106 3 124 3 4 5 6 Δt(j) (μs) 117 3 99 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0.275 0.275 0.275 0.275 0.275 0.275 1.385 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 Firing Channel NearSequence # Range Flag 6 4.365 95 0 4.
Table II.2 High Resolution mode, k = 1 (Continued) Row No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Firing Channel NearSequence # Range Flag Δt(j) (μs) 13 80 0 12.505 14 30 0 14.53 13 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 16 16 84 43 53 57 58 72 76 87 28 39 46 59 65 69 74 88 32 35 0 0 0 0 0 0 0 0 12.505 14.53 14.53 14.53 14.53 14.53 14.53 14.53 0 16.555 0 16.555 0 0 0 0 0 0 0 0 16.555 16.555 16.555 16.555 16.555 16.555 18.58 18.
Table II.3 High Resolution mode, k = 2 (To Be Continued) Row No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Firing Channel NearSequence # Range Flag 1 4 0 0.275 23 0 0.275 1 13 1 92 1 1 96 1 105 1 121 1 2 3 4 114 114 96 6 4 15 4 90 4 4 25 98 4 107 4 125 4 5 6 Δt(j) (μs) 116 90 15 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0.275 0.275 0.275 0.275 0.275 0.275 1.385 1.805 2.5 2.5 2.5 2.5 2.5 2.5 2.5 Firing Channel NearSequence # Range Flag 7 0 4.725 19 0 4.
Table II.3 High Resolution mode, k = 2 (Continued) Row No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Firing Channel Sequence # 13 80 14 30 13 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 16 16 84 43 53 57 58 72 76 87 28 39 46 59 65 69 74 88 32 35 Near-Ran ge Flag Δt(j) (μs) 0 12.385 0 14.41 0 0 0 0 0 0 0 0 12.385 14.41 14.41 14.41 14.41 14.41 14.41 14.41 0 16.435 0 16.435 0 0 0 0 0 0 0 0 16.435 16.435 16.435 16.435 16.435 16.435 18.46 18.
Table II.4 High Resolution mode, k = 3 (To Be Continued) Row No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Firing Channel NearSequence # Range Flag 1 2 0 0.275 20 0 0.275 1 11 1 93 1 1 104 1 118 1 1 2 3 113 128 128 3 3 10 3 91 3 3 22 99 3 106 3 124 3 4 5 5 Δt(j) (μs) 117 117 1 9 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0.275 0.275 0.275 0.275 0.275 0.275 1.385 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 Firing Channel NearSequence # Range Flag 5 16 0 3.925 5 101 0 3.
Table II.4 High Resolution mode, k = 3 (Continued) Row No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Firing Channel NearSequence # Range Flag Δt(j) (μs) 13 80 0 12.505 14 30 0 14.53 13 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 16 16 84 43 53 57 58 72 76 87 28 39 46 59 65 69 74 88 32 35 0 0 0 0 0 0 0 0 12.505 14.53 14.53 14.53 14.53 14.53 14.53 14.53 0 16.555 0 16.555 0 0 0 0 0 0 0 0 16.555 16.555 16.555 16.555 16.555 16.555 18.58 18.
Table II.5 Standard mode, k = 0 (To Be Continued) Row No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Firing Channel NearSequence # Range Flag 1 4 0 0.275 23 0 0.275 1 13 1 92 1 1 96 1 105 1 121 1 2 3 114 105 6 3 15 3 90 3 3 25 98 3 107 3 125 3 4 5 5 Δt(j) (μs) 116 6 5 12 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0.275 0.275 0.275 0.275 0.275 0.275 1.385 2.1 2.1 2.1 2.1 2.1 2.1 2.1 2.1 Firing Channel NearSequence # Range Flag 5 19 0 3.925 5 100 0 3.
Table II.5 Standard mode, k = 0 (To Be Continued) Row No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Firing Channel NearSequence # Range Flag Δt(j) (μs) 13 79 0 12.505 14 68 1 14.255 13 15 15 15 15 15 15 15 15 16 17 81 29 33 34 52 56 63 78 83 40 2 17 11 17 93 17 20 17 104 17 118 17 17 113 128 0 0 0 0 0 0 0 0 0 1 12.505 14.97 14.97 14.97 14.97 14.97 14.97 14.97 14.97 17.72 0 28.053 0 28.053 0 0 0 0 0 0 28.053 28.053 28.053 28.053 28.053 28.
Table II.5 Standard mode, k = 0 (Continued) Row No. 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 Firing Channel NearSequence # Range Flag Δt(j) (μs) 28 53 0 38.258 28 58 0 38.258 28 28 28 28 29 29 29 29 29 29 29 29 30 30 30 30 30 30 57 72 76 87 28 39 46 59 65 69 74 88 26 44 48 55 62 75 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 38.258 38.258 38.258 Firing Channel NearSequence # Range Flag Δt(j) (μs) 30 85 0 42.308 31 75 1 44.058 30 32 89 47 0 1 42.308 45.498 38.258 40.
Table II.6 Standard mode, k = 1 (To Be Continued) Row No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Firing Channel NearSequence # Range Flag 1 4 0 0.275 23 0 0.275 1 13 1 92 1 1 96 1 105 1 121 1 2 3 4 114 114 96 6 4 15 4 90 4 4 25 98 4 107 4 125 4 5 6 Δt(j) (μs) 116 90 15 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 1 0.275 0.275 0.275 0.275 0.275 0.275 1.385 1.825 2.54 2.54 2.54 2.54 2.54 2.54 2.54 Firing Channel NearSequence # Range Flag 7 0 4.805 19 0 4.
Table II.6 Standard mode, k = 1 (To Be Continued) Row No. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Firing Channel NearSequence # Range Flag Δt(j) (μs) 13 74 0 12.505 14 26 0 14.53 13 14 14 14 14 14 14 14 15 16 17 88 44 48 55 62 75 85 89 26 54 2 17 11 17 93 17 20 17 104 17 118 17 17 113 128 0 0 0 0 0 0 0 0 1 1 12.505 14.53 14.53 14.53 14.53 14.53 14.53 14.53 16.28 17.72 0 28.053 0 28.053 0 0 0 0 0 0 28.053 28.053 28.053 28.053 28.053 28.
Table II.6 Standard mode, k = 1 (Continued) Row No. 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 Firing Channel NearSequence # Range Flag Δt(j) (μs) 27 54 0 37.818 27 73 0 37.818 27 27 27 28 29 29 29 29 29 29 29 29 30 30 30 30 30 30 67 77 82 82 32 35 45 50 68 70 79 81 29 33 34 52 56 63 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 37.818 37.818 37.818 Firing Channel NearSequence # Range Flag Δt(j) (μs) 30 78 0 42.308 31 33 1 44.058 30 32 83 61 0 1 42.308 45.498 39.568 40.
Appendix III PTP Protocol The Precision Time Protocol (PTP), also known as the IEEE 1588 standard, is used to synchronize clocks across a computer network. It can achieve submicrosecond clock accuracy and is suitable for measurement and control systems.
◼ Absolute Packing Time When Using PTP To use PTP as the clock source, users need to connect a PTP master device to get the absolute time. If a PTP clock source is selected, the LiDAR will not transmit GPS Data Packets, but only Point Cloud Data Packets with 4-byte μs timestamps and 6-byte Date & Time fields. The sum of the μs timestamp and the Date & Time is the absolute packing time of this data packet. NOTE ▪ The PTP master device is a third-party product and is not included with the LiDAR.
Appendix IV Certification Info ◼ FCC Declaration FCC ID: 2ASO2PANDAR128 FCC Warning This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. FCC Statement This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules.
Appendix V Support and Contact ◼ Technical Support For any question not addressed in this manual, please contact us at: service@hesaitech.com www.hesaitech.com https://github.com/HesaiTechnology NOTE Please leave your questions under the corresponding GitHub projects. ◼ Legal Notice Copyright 2020 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited.
Hesai Photonics Technology Co., Ltd. Phone: 400-805-1233 Website: www.hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China Business Email: info@hesaitech.com Service Email: service@hesaitech.
