User's Manual

Contents
Safety Notice ................................................................................................................. 1
1 Introduction ............................................................................................................ 4
1.1 Operating Principle ................................................................................................. 4
1.2 LiDAR Structure ........................................................................................................ 5
1.3 Channel Distribution ............................................................................................... 6
1.4 Specifications ............................................................................................................ 7
2 Setup ......................................................................................................................... 8
2.1 Mechanical Installation ........................................................................................... 8
2.2 Interfaces .................................................................................................................. 12
2.3 Connection Box (Optional) ................................................................................. 13
2.4 Get Ready to Use ................................................................................................... 16
3 Data Structure ...................................................................................................... 17
3.1 Point Cloud Data Packet ...................................................................................... 18
3.2 GPS Data Packet ..................................................................................................... 22
4 Web Control ......................................................................................................... 28
4.1 Home ......................................................................................................................... 29
4.2 Settings ..................................................................................................................... 30
4.3 Azimuth FOV ........................................................................................................... 33
4.4 Operation Statistics ............................................................................................... 36
4.5 Upgrade .................................................................................................................... 37
5 PandarView ........................................................................................................... 38
5.1 Installation ............................................................................................................... 38
5.2 Use ............................................................................................................................. 39
5.3 Features .................................................................................................................... 41
6 Communication Protocol .................................................................................. 45
6.1 Packet Structure ..................................................................................................... 45
6.2 Frequently Used Commands ............................................................................. 46
7 Sensor Maintenance ........................................................................................... 54
8 Troubleshooting .................................................................................................. 56
Appendix I Channel Distribution ........................................................................ 58
Appendix II Absolute Time and Laser Firing Time ......................................... 61
II.1 Absolute Time of Point Cloud Data Packets ................................................. 61
II.2 End Time of Each Block ....................................................................................... 61
II.3 Laser Firing Time of Each Channel ................................................................... 63
Appendix III PTP Protocol .................................................................................... 64
Appendix IV Phoenix Contact ............................................................................. 66
Appendix V Nonlinear Reflectivity Mapping ................................................... 67
Appendix VI Certification Info ............................................................................ 71
Appendix VII Support and Contact .................................................................... 72