Hesai Pandar128 User Manual
  1. Manuals
  2. Brands
  3. Hesai Manuals
  4. Measuring Instruments
  5. Pandar128
  6. User manual

Hesai Pandar128 User Manual

128-channel mechanical lidar
Hide thumbs Also See for Pandar128:
Table of Contents

Advertisement

Quick Links

www.hesaitech.com
128-en-2001A3
Pandar128
128-Channel
Mechanical LiDAR
User Manual
HESAI Wechat

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Pandar128 and is the answer not in the manual?

Questions and answers

Related Manuals for Hesai Pandar128

Summary of Contents for Hesai Pandar128

  • Page 1 128-en-2001A3 Pandar128 128-Channel Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents 1 Introduction......................4 5 PandarView...................... 40 1.1 Operating Principle ....................4 Installation ......................40 1.2 LiDAR Structure ..................... 5 Use ........................... 41 1.3 Channel Distribution ................... 6 Features ......................... 43 1.4 Specifications ......................7 6 Communication Protocol................47 2 Setup........................8 Packet Structure ....................
  • Page 3 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. For repairs and maintenance inquiries, please contact an authorized Hesai Technology service provider. ◼ Laser Safety Notice – Laser Class 1 This device satisfies the requirements of ▪...
  • Page 4 For maximum self-protection, avoid looking directly at the device when it is in operation. Repair DO NOT open and repair the device without direct guidance from Hesai Technology. Disassembling the device may cause degraded performance, failure in water resistance, or potential injuries to the operator.
  • Page 5 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. Radio Frequency Interference Please observe the signs and notices on the device that prohibit or restrict the use of electronic devices. Although the device is designed, tested, and manufactured tocomply with theregulations on RF radiation, theradiation from thedevicemay still influenceother electronic devices.

  • Page 6: Introduction

    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.

  • Page 7: Lidar Structure

    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.

  • Page 8: Channel Distribution

    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 ▪...

  • Page 9: Specifications

    1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Mechanical Rotation 905 nm Scanning Method Wavelength Class 1 Eye Safe Channel Laser Class 0.3 to 200 m (at 10 reflectivity) IP6K9K Range Ingress Protection ±5 cm (0.3 to 1 m) Height: 122.7 mm Range Accuracy Dimensions ±2 cm (1 to 200 m) Top/Bottom Diameter: 118.00 / 116.00 mm...

  • Page 10: Setup

    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. LiDAR Data Point Cloud Data Packet GPS Data Packet...

  • Page 11: Point Cloud Data Packet

    2.1 Point Cloud Data Packet 2.1.1 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. Point Cloud Ethernet Header: 42 bytes Field Bytes Description...
  • Page 12 Protocol Version Major Major version number of the protocol: to distinguish between product models 0x01 for Pandar128 Protocol Version Minor Minor version numberof theprotocol: for each product model,toindicatethecurrent protocol version Currently 0x03 for Pandar128 Reserved ◼ Header Header: 6 bytes Field...
  • Page 13 ◼ Body Body: 772 bytes (2 blocks) Block 1 Block 2 Azimuth 1 Azimuth 2 Channel 1 Channel 1 Channel 2 Channel 2 … … Channel 128 Channel 128 Under the Dual Return mode, the ranging data from each firing is stored in the two blocks of one packet: ▪...
  • Page 14 ◼ Tail Tail: 24 bytes Field Bytes Description Reserved 0x01 for high temperature; 0x00 for normal operation ▪ Whenhigh temperature isdetected, the shutdown flag willbe setto 0x01, and the system willshut down after High Temperature 60 s. The flag remains 0x01 during the 60 s and the shutdown period Shutdown Flag ▪...
  • Page 15 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 12.165°, according to Appendix I Channel Distribution NOTE The accurate vertical angle is recorded in this LiDAR’s unit’s calibration file...

  • Page 16: Gps Data Packet

    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.
  • Page 17 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. GPS Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type 0x08, 0x00...
  • Page 18 2.2.2 UDP Data GPS UDP data: 512 bytes Field Bytes Description GPS time data Header 2 bytes 0xFFEE, 0xFF first Date 6 bytes Year, month, and day (2 bytes each, lower byte first) in ASCII Time 6 bytes Second, minute, and hour (2 bytes each, lower byte first) in ASCII μs Time 4 bytes In units of μs (lower byte first)
  • Page 19 ◼ GPRMC Data Format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description Hour, minute, and second <01> UTC Time Can be in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked …...
  • Page 20 ◼ GPGGA Data Format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description Hour, minute, and second <01> UTC Time Can be in hhmmss (hour, minute, second) format … 0 = invalid <06>...
  • Page 21 2.2.3 GPS Data Analysis Figure 3.4 GPS Data Packet – UDP Data (Example) Date Field Data (ASCIICode) Characters Meaning Year 0x39 0x31 '9', '1' Month 0x32 0x30 '2', '0' 0x36 0x32 '6', '2' Time Field Data (ASCIICode) Characters Meaning Second 0x33 0x35 '3', '5' Minute...

  • Page 22: Web Control

    4 Web Control Web control is used for setting parameters, checking device info, and upgrading. To access web control 1) Connect the LiDAR to your PC using an Ethernet cable 2) Set the IP address according to Section 2.4 Get Ready to Use 3) Enter this URL into your web browser: 192.168.1.201/index.html NOTE Google Chrome or Firefox is recommended.

  • Page 23: Home

    4.1 Home Spin Rate of the motor (revs per minute) = frame rate (Hz) * 60 GPS (PPS) Status Lock LiDAR’s internal clock is in sync with the GPS Unlock Not in sync NMEA (GPRMC/GPGGA) Status Lock After receiving a valid NMEA message Unlock Not receiving a valid NMEA message PTP Status...

  • Page 24: Settings

    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.
  • Page 25 4. Settings – Others Spin Rate 600 rpm / 1200 rpm Return Mode Last / Strongest / Dual Return Sync Angle 0~360 degrees 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 and input a sync angle.
  • Page 26 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.
  • Page 27 (Continued) ▪ When PTP is selected as the clock source: Profile 1588v2 (default) or 802.1AS IEEE timing and synchronization standard used PTP Network UDP/IP (default) or L2 Transport UDP/IP follows the PTPv2 standard defined in IEEE 1588-2008 L2 follows the gPTP standard defined in IEEE 802.1 AS PTP Domain Integer from 0 to 127...

  • Page 28: High Resolution

    4.3 High Resolution The horizontal resolution of far field measurement is configurable on-the-fly. Configuration Mode Frame Rate Horizontal Resolution of Far Field Measurement Standard 10 Hz 0.2° for all channels 20 Hz 0.4° for all channels High Resolution 10 Hz °...

  • Page 29: Operation Statistics

    4.4 Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed.

  • Page 30: Monitor

    4.5 Monitor The LiDAR’s input current, voltage, and power consumption are displayed.

  • Page 31: 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.

  • Page 32: Pandarview

    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...

  • Page 33: Use

    5.2 Use Set the PC’s IP address according to Section 2.4 Use. ◼ Check Live Data ◼ Open a PCAP File Click on and select your LiDAR model to begin receiving data over Click on to pop up the “Choose Open File” window. Select a PCAP Ethernet.
  • Page 34 ◼ 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.

  • Page 35: Features

    5.3 Features ◼ Viewpoint Selection ◼ 3D Projection and Distance Measurement Both perspective projection (default) and orthographic projection are Users can select from the right view, front view, and top view. 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.
  • Page 36 ◼ Return Mode ◼ UDP Port Users can select from Block 1 Return (i.e. Last Return), Block 2 Return Enter the UDP port number, and click “Set” to apply it. (i.e. Strongest Return), and Dual Return. ◼ Channel Selection Click on to show/hide point cloud data from the selected laser channels.
  • Page 37 ◼ 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 points...
  • Page 38 ◼ 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.

  • Page 39: Communication Protocol

    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.

  • Page 40: Frequently Used Commands

    6.2 Frequently Used Commands Command Command Code Payload Length Function PTC_COMMAND_GET_LIDAR_CALIBRATION To retrieve the LiDAR’s calibration file PTC_COMMAND_PTP_DIAGNOSTICS 1 byte To retrieve PTP diagnostics for a specified PTP Query Type PTC_COMMAND_GET_INVENTORY_INFO To retrieve inventory info PTC_COMMAND_GET_CONFIG_INFO To retrieve configurationparameters PTC_COMMAND_GET_LIDAR_STATUS To retrieve status info such as temperature and system uptime 6.2.1 PTC_COMMAND_GET_LIDAR_CALIBRATION Command message payload...
  • Page 41 6.2.2 PTC_COMMAND_PTP_DIAGNOSTICS Command message payload 1-byte PTP Query Type PTP Query Type Value PTP STATUS PTP TLV PORT_DATA_SET PTP TLV TIME_STATUS_NP PTP TLV GRANDMASTER_SETTINGS_NP Feedback message payload a. PTP STATUS Field Length Description master_offset 8 bytes Offset between master and slave, in units of ns ptp_state 4 bytes "NONE", /*0*/...
  • Page 42 b. PTP TLV PORT_DATA_SET Per IEEE-1588 standard management TLV PORT_DATA_SET Field Length Description Port identity portIdentity 10 bytes Including 8-bytes clock identity and 2-byte port number portState 1 byte Same as ptp_state in the PTP STATUS message Minimum permitted mean time interval between Delay_Req messages logMinDelayReqInterval 1 byte Specified as a power of two in seconds...
  • Page 43 c. LinuxPTP TLV TIME_STATUS_NP (0xc000) Field Length Description master_offset 8 bytes Time difference between master and slave at the last handshake, in units of ns ingress_time 8 bytes Hardware ingress time stamp of the last sync message received by the slave cumulativeScaledRateOffset 4 bytes Relative information in the last received follow_up message...
  • Page 44 2 bytes Zero-angle offset, as an unsigned short value in network byte order (big endian) model 1 byte 0 – Pandar40P 2 – Pandar64 3 – Pandar128 5 – Pandar40 15 – PandarQT 17 – Pandar40M 0 - single direction motor_type...
  • Page 45 Feedback message payload Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued on the next page) Field Length Description IP address of the device ipaddr 4 bytes Default 192.168.1.201 mask 4 bytes Subnet mask of the device Default 255.255.255.0 gateway 4 bytes Gateway of the device Default 192.168.1.1 dest_ipaddr 4 bytes...
  • Page 46 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. trigger_method 1 byte...
  • Page 47 Feedback message payload Field Length Description system_uptime 4 bytes System uptime in seconds motor_speed 2 bytes Real-time motor speed, in units of rpm temperature 4 * 8 bytes Real-time temperature array (unit: 0.01°C) 0 – bottom circuit board T1 1 – bottom circuit board T2 2 –...

  • Page 48: Sensor Maintenance

    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.

  • Page 49: Troubleshooting

    Wireshark nor PandarView ▪ Check the firmware version of the sensor on the Upgrade page of web control. If the version is not shown properly but as “xxxx”, contact Hesai for further diagnostics Can receive data on Wireshark ▪ Make sure the Destination IP and the Destination LiDAR Port are set correctly on the Settings page of web control but not on PandarView ▪...
  • Page 50 Table 8.1 Troubleshooting (Continued) Symptoms Points to Check ▪ Make sure the LiDAR’s enclosure is clean. If not, refer to Chapter 7 Sensor Maintenance for the cleaning method Abnormal point cloud ▪ Make sure the LiDAR’s calibration file is imported. (Pandar40P automatically imports the calibration file, while (misaligned points, flashing Pandar40 requires manual importing) points, or incomplete FOV)

  • Page 51: Appendix I Channel Distribution

    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 ▪...
  • Page 52 ▪ 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 Frame Rate Horizontal Resolution of Far Field Measurement Standard 10 Hz 0.2°...
  • Page 53 Table I.1 Pandar128 Channel Distribution (To Be Continued) Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) with Reflectivity Channel # (Azimuth, in degrees) (Elevation, in degrees) (in meters) 01 (Top Beam) 3.257 14.436 0.3@10 140@10 3.263 13.535 2.85@10 140@10 1.091...
  • Page 54 Table I.1 Pandar128 Channel Distribution (To Be Continued) Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) with Reflectivity Channel # (Azimuth, in degrees) (Elevation, in degrees) (in meters) -3.311 4.501 0.3@10 140@10 -1.109 4.007 2.85@10 140@10 -3.318 3.509 2.85@10...
  • Page 55 Table I.1 Pandar128 Channel Distribution (To Be Continued) Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) with Reflectivity Channel # (Azimuth, in degrees) (Elevation, in degrees) (in meters) -7.738 0.124 2.85@10 200@10 42 (Horizontal Beam) -1.117 0.000 2.85@10 200@10 7.743...
  • Page 56 Table I.1 Pandar128 Channel Distribution (To Be Continued) Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) with Reflectivity Channel # (Azimuth, in degrees) (Elevation, in degrees) (in meters) 3.345 -2.409 0.3@10 200@10 -3.353 -2.535 2.85@10 200@10 1.113 -2.663 2.85@10...
  • Page 57 Table I.1 Pandar128 Channel Distribution (To Be Continued) Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) with Reflectivity Channel # (Azimuth, in degrees) (Elevation, in degrees) (in meters) -7.799 -4.951 2.85@10 140@10 0.3@10 -1.127 -5.081 140@10 7.804 -5.209 2.85@10...
  • Page 58 Table I.1 Pandar128 Channel Distribution (To Be Continued) Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) with Reflectivity Channel # (Azimuth, in degrees) (Elevation, in degrees) (in meters) 1.129 -11.672 2.85@10 140@10 0.3@10 3.395 -12.174 140@10 1.131 -12.673 2.85@10...
  • Page 59 Table I.1 Pandar128 Channel Distribution (Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters)with Reflectivity in UDP Data (Azimuth) (Elevation) (in meters) -1.145 -21.379 2.85@10 140@10 -3.436 -21.848 2.85@10 140@10 -1.146 -22.304 0.3@10 140@10 -3.44 -22.768 2.85@10...

  • Page 60: 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.

  • Page 61: Ii.2 Start Time Of Each Block

    ◼ 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).

  • Page 62: Ii.3 Laser Firing Time Of Each Channel

    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}. ◼...
  • Page 63 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 ▪...
  • Page 64 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) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag...
  • Page 65 Table II.1 High Resolution mode, k = 0 (Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 12.505 18.58 23.07 12.505 18.58 23.07 14.53 18.58 23.07 14.53...
  • Page 66 Table II.2 High Resolution mode, k = 1 (To Be Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 0.275 4.365 8.455 0.275 4.365 8.455 0.275 4.365...
  • Page 67 Table II.2 High Resolution mode, k = 1 (Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 12.505 18.58 23.07 12.505 18.58 23.07 14.53 18.58 23.07 14.53...
  • Page 68 Table II.3 High Resolution mode, k = 2 (To Be Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 0.275 4.725 8.335 0.275 4.725 8.335 0.275 4.725...
  • Page 69 Table II.3 High Resolution mode, k = 2 (Continued) Firing Channel Near-Ran Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence ge Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 12.385 18.46 22.93 12.385 18.46 22.93 14.41 18.46 22.93 14.41...
  • Page 70 Table II.4 High Resolution mode, k = 3 (To Be Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 0.275 3.925 8.015 0.275 3.925 8.015 0.275 3.925...
  • Page 71 Table II.4 High Resolution mode, k = 3 (Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 12.505 18.58 22.63 12.505 18.58 22.63 14.53 18.58 24.38 14.53...
  • Page 72 Table II.5 Standard mode, k = 0 (To Be Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 0.275 3.925 8.455 0.275 3.925 8.455 0.275 3.925 8.455...
  • Page 73 Table II.5 Standard mode, k = 0 (To Be Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 12.505 29.163 33.693 12.505 29.878 34.408 14.255 29.878 34.408...
  • Page 74 Table II.5 Standard mode, k = 0 (Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) 38.258 42.308 38.258 42.308 38.258 44.058 38.258 45.498 38.258 38.258 40.283 40.283 40.283 40.283 40.283 40.283 40.283 40.283 42.308...
  • Page 75 Table II.6 Standard mode, k = 1 (To Be Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 0.275 4.805 8.455 0.275 4.805 8.455 0.275 4.805 8.455...
  • Page 76 Table II.6 Standard mode, k = 1 (To Be Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) Sequence Range Flag (μs) 12.505 29.163 33.968 12.505 29.878 33.968 14.53 29.878 33.968...
  • Page 77 Table II.6 Standard mode, k = 1 (Continued) Firing Channel Near- Δt(j) Firing Channel Near- Δt(j) Sequence Range Flag (μs) Sequence Range Flag (μs) 37.818 42.308 37.818 42.308 37.818 44.058 37.818 45.498 37.818 39.568 40.283 40.283 40.283 40.283 40.283 40.283 40.283 40.283 42.308...

  • Page 78: Appendix Iii Ptp Protocol

    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 sub- microsecond clock accuracy and is suitable for measurement and control systems. ◼...
  • Page 79 ◼ 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 &...

  • Page 80: Appendix Iv Certification Info

    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.

  • Page 81: Appendix V Support And Contact

    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 Technology makes no representations or warranties, either expressed or implied, with respect to the contents hereof and specifically disclaims any warranties, merchantability or fitness for any particular purpose.
  • Page 82 Hesai Photonics Technology Co., Ltd. Phone: 400-805-1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China HESAI Wechat...

Table of Contents