1. Manuals
  2. Brands
  3. Hesai Manuals
  4. Measuring Instruments
  5. PandarXT-16
  6. User manual

Hesai PandarXT-16 User Manual

16-channel mid-range mechanical lidar
Hide thumbs Also See for PandarXT-16:
Table of Contents

Advertisement

Quick Links

Download this manual
www.hesaitech.com
PandarXT-16
16-Channel Mid-Range
Mechanical Lidar User Manual
Classification: Public
Doc Version: X02-en-240210

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the PandarXT-16 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Hesai PandarXT-16

Summary of Contents for Hesai PandarXT-16

  • Page 1 PandarXT-16 16-Channel Mid-Range Mechanical Lidar User Manual Classification: Public Doc Version: X02-en-240210...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.1.2. Side connector lidar ...................... ...
  • Page 4 4.2.3. Time sync ........................ ...

  • Page 5: About This Manual

    Access to this manual To obtain the latest version, please do one of the following: Visit the Downloads page of Hesai's official website: https://www.hesaitech.com/downloads/ •...

  • Page 6: Safety Notice

    Should there be other agreements with specific users, the other agreements shall apply. • Before using a product, please confirm with Hesai the development maturity of the product in a timely manner. For products still in development, • Hesai makes no warranty of non-infringement nor assumes any responsibility for quality assurance.

  • Page 7: Operating Environment

    If any device or equipment in the nearby environment malfunctions. • Meanwhile, contact Hesai or an authorized Hesai service provider for more information on product disposal. Prohibition of disassembly Unless expressly agreed to in writing by Hesai, do NOT disassemble the product.
  • Page 8 Vibration If significant mechanical shocks and vibration exist in the product's operating environment, please contact Hesai's technical support team to • obtain the shock and vibration limits of your product model. Exposure to over-the-limit shocks or vibration may damage the product.

  • Page 9: Personnel

    The product should be operated by professionals with engineering backgrounds or experience in operating optical, electrical, and mechanical instruments. Please follow the instructions in this manual when operating the product and contact Hesai technical support if needed. Medical device interference Some components in the product can emit electromagnetic fields.
  • Page 10 If abnormalities already • exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support. To prevent breakdowns, turn off the power source before connection and disconnection.
  • Page 11 • immediately and contact Hesai technical support. Do NOT squeeze or pierce the product. If the product enclosure is broken, stop using it immediately and contact Hesai technical support. • Certain product models contain high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 12 Using off-spec or unsuitable devices may result in product damage or even personal injuries. Firmware and software upgrading Make sure to use only the upgrade files provided by Hesai. Make sure to observe all the instructions provided for that upgrade file. Customized firmware and software Before using a customized version of firmware and software, please fully understand the differences in functions and performance between the •...

  • Page 13: Repair And Maintenance

    For product repair or maintenance issues, please contact Hesai or an authorized Hesai service provider. Repair Unless expressly agreed to in writing by Hesai, do NOT disassemble, repair, modify, or retrofit the product by yourself or entrust any third party to do so. Such a breach: can result in product damage (including but not limited to water resistance failure), property loss, and/or injuries;...

  • Page 14: Introduction

    1. Introduction 1.1. Operating principle Distance measurement: Time of Flight (ToF) A laser diode emits a beam of ultrashort laser pulses onto the target object. The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor. Distance to the object can be accurately measured by calculating the time between laser emission and receipt.

  • Page 15: Basic Structure

    1.2. Basic structure The basic structure is shown in Figure 1. Partial cross-sectional diagram. Multiple pairs of laser emitters and receivers are attached to a motor that rotates 360° horizontally. Figure 1. Partial cross-sectional diagram 1.2.1. Side connector lidar Figure 2. Coordinate system (isometric view) Figure 3.

  • Page 16: Bottom Connector Lidar

    1.2.2. Bottom connector lidar Figure 4. Coordinate system (isometric view) Figure 5. Lidar azimuthal position (top view) The lidar's coordinate system is illustrated in Figure 2. Coordinate system (isometric view) Figure 4. Coordinate system (isometric view). Z-axis • is the axis of rotation. Lidar azimuthal position is defined in Figure 3.

  • Page 17: Channel Distribution

    1.3. Channel distribution The vertical resolution is 2° across the FOV, as illustrated in Figure 6. Channel vertical distribution (unit: mm). 1.3.1. Side connector lidar The optical center's exact position is shown as a yellow dot. • The origin's exact position is shown as a red dot. All measurements are relative to the origin. •...

  • Page 18: Bottom Connector Lidar

    1.3.2. Bottom connector lidar Figure 8. Channel vertical distribution (unit: mm) Figure 9. Laser emitter/receiver position (unit: mm) 1.3.3. Angle correction file Each channel has an intrinsic vertical angle offset. These angles are recorded in the angle correction file of this lidar, which is provided when shipping. Angle correction file In case you need to obtain this file again, please do one of the following: Send PTC command 0x05, as described in the TCP API Reference Manual (see...

  • Page 19: Specifications

    1.4. Specifications SENSOR Scanning method Mechanical rotation Number of channels Instrumented range 0.05 to 120 m Ranging capability ① 80 m @10% reflectivity (Channels 5 to 12) 50 m @10% reflectivity (Channels 1 to 4, 13 to 16) Ranging accuracy ② ±1 cm (typical) ±2 cm (standard) Ranging precision ③...
  • Page 20 Laser class Class 1 Eye Safe Ingress protection IP6K7 Dimensions Height: 76.0 mm (side connector) / 83.0 mm (bottom connector) Top/bottom: Φ100.0/103.0 mm Rated voltage range DC 9 to 36 V Power consumption ④ Operating temperature –20°C to 65°C Storage temperature –40°C to 85°C Weight 0.8 kg (side connector)
  • Page 21 Notes to specifications ① Ranging capability (typical value) Measured under 100 klux ambient illuminance with the probability of • detection (PoD) > 90%. The ranging capability of each channel is listed in Appendix A Channel • distribution data. ②③ Ranging accuracy and precision Defined as the average of all channels.

  • Page 22: Ranging Accuracy

    1.4.1. Ranging accuracy Definition: At each specified target distance, the average error of the multiple measurements made by one channel  Measurement error: difference between the measured value and the true value Conditions: 30°C ambient temperature; outdoors; Channels 5 to 12 -18-...
  • Page 23 -19-...

  • Page 24: Ranging Precision

    1.4.2. Ranging precision Definition: The standard deviation of the measurements of a channel. Conditions: 30°C ambient temperature; outdoors; Channels 5 to 12 -20-...

  • Page 25: Setup

    2. Setup Before operating the lidar, strip away the protective cover on the cover lens. 2.1. Mechanical installation 2.1.1. Notes on screw installation Screw type SEMS screws (with pre-attached flat washers and lock washers) are recommended. Property class should be at least 4.8. Threadlocker Before fastening a screw, apply 1 or 2 dots of threadlocker in the thread fit area.
  • Page 26 Each screwing counts as one time, so as each unscrewing. -22-...

  • Page 27: Side Connector Lidar

    2.1.2. Side connector lidar Figure 10. Front view (side connector, unit: mm) Figure 11. Bottom view (side connector, unit: mm) -23-...
  • Page 28 Figure 12. Recommended installation -24-...

  • Page 29: Bottom Connector Lidar

    2.1.3. Bottom connector lidar Figure 13. Front view (bottom connector, unit: mm) Figure 14. Bottom view (bottom connector, unit: mm) -25-...
  • Page 30 Figure 15. Recommended installation -26-...

  • Page 31: Electrical Interface

    2.2. Electrical interface Lemo part number: EEG.0T.309.CLN (female socket, on the lidar) Figure 16. Lemo connector (unit: mm) 2.2.1. Pin description Pin # Signal Wire Color Voltage Wire Gauge Pin # Signal Wire Color Voltage Wire Gauge GPS PPS Black 3.3 to 12 V 28 AWG Ethernet TX-...

  • Page 32: Bending Of Cables

    Timing requirements of GPS PPS and GPS Serial Data (NMEA) GPS PPS: signal cycle t3 = 1 s ± 50 μs (rising edge to rising edge) GPS PPS: pulse width t1 ≥ 1 ms (10 to 100 ms recommended) Timing relationship NMEA signal starts after the PPS rising edge of the current second, and ends after the PPS falling edge of the current second, as shown by the gray arrows in the figure above.

  • Page 33: Connector Use

     If the connector's shell is accidentally pulled off, stop using the connector and contact Hesai technical support. • Do NOT attempt to assemble the connector's shell and cable collet; do NOT connect a connector without its shell. Doing so may damage •...
  • Page 34 Connection Turn off the power source. Make sure the red dot on the cable's plug faces upward so that the alignment key matches the slot on the lidar side. Push the plug straight into the lidar's socket. Disconnection Turn off the power source. Hold the plug's shell and pull the plug straight from the socket.

  • Page 35: Connection Box (Optional)

    2.3. Connection box (optional) Users may connect the lidar with or without a connection box. Lemo part number: FGG.0T.309.CLAC50Z (male plug, on the connection box) Figure 18. Connection box (unit: mm) -31-...

  • Page 36: Ports

    2.3.1. Ports Figure 19. Connection box (front) Port No. Port name Description Standard Ethernet port RJ45, 100 Mbps Ethernet Power port Connects to a DC power adapter. GPS port Connector part number: JST SM06B-SRSS-TB Recommended connector for the external GPS module: JST SHR-06V-S-B Voltage standard: RS232 Baud rate: 9600 bps Pin description for the GPS port...
  • Page 37 Pin # Direction Description Requirements Input Receiving serial data from the external GPS module RS232 level Output Ground for the external GPS module Reserved Figure 20. Connection box (back) -33-...

  • Page 38: Connection

    2.3.2. Connection 2.3.2.1. Side connector lidar Figure 21. Connection with GPS -34-...
  • Page 39 Figure 22. Connection with PTP -35-...
  • Page 40 2.3.2.2. Bottom connector lidar Figure 23. Connection with GPS -36-...
  • Page 41 Figure 24. Connection with PTP -37-...

  • Page 42: Network Settings On The Receiving Host

    Where to find it PandarView 2 (point cloud To record and display point cloud data Visit the Downloads page of Hesai's official website visualization software) contact Hesai technical support. web control and API To set parameters, check device info or upgrade...
  • Page 43 Tool Purpose Where to find it software development kits (SDKs) To assist development Visit Hesai's official GitHub page: https://github.com/ and ROS drivers HesaiTechnology -39-...

  • Page 44: Data Structure

    3. Data structure Unless otherwise specified, all the multi-byte fields are unsigned values in little-endian format. Pre-Header: 6 bytes Ethernet header: 42 bytes Header: 6 bytes Point Cloud Data Packet: 614 bytes Point cloud UDP data: 568 bytes Body: 528 bytes Tail: 24 bytes Ethernet tail: 4 bytes Additional information: 4 bytes...

  • Page 45: Point Cloud Data Packet

    3.1. Point Cloud Data Packet 3.1.1. Ethernet header Default IP address: Source IP 192.168.1.201 Destination IP 255.255.255.255 Point Cloud Data Packet: Ethernet header Field Bytes Description Ethernet II MAC Destination MAC: xx:xx:xx:xx:xx:xx (FF:FF:FF:FF:FF:FF for broadcast) Source MAC: xx:xx:xx:xx:xx:xx Ethernet Data Packet Type 0x08, 0x00 Internet Protocol Protocol parameters...

  • Page 46: Point Cloud Udp Data

    3.1.2. Point cloud UDP data 3.1.2.1. Pre-Header Field Bytes Description 0xEE Start of Packet 0xFF Start of Packet Protocol Version Major Main class of the point cloud UDP packet structure Current value: 0x06 Protocol Version Minor Subclass of the point cloud UDP packet structure Current value: 0x01 Reserved -42-...
  • Page 47 3.1.2.2. Header Field Bytes Description Channel Num Number of laser channels Fixed: 0x10 (16) Block Num Number of block(s) per packet Fixed: 0x08 (8) First Block Return Reserved Dis Unit Fixed: 0x04 (4 mm) Return Num Maximum number of returns from each channel 0x02 (2) UDP Sequence [7:1] are reserved.
  • Page 48 3.1.2.3. Body Return mode Return Mode The available Return mode(s) are listed in the field in Section 3.1.2.4 Tail. In Single Return mode, the measurements of each round of firing are stored in one block. Azimuth In Dual Return mode, the measurements of each round of firing are stored in two adjacent blocks (see table below), and the fields of these two blocks are the same.
  • Page 49 Body Field Bytes Description Block 1 For Block 1: Measurements made by each channel (starting from Channel 1) Refer to Each block in the body. Block 2 For Block 2: Measurements made by each channel (starting from Channel 1) … …...
  • Page 50 Field Bytes Description Channel 2 Measurements of Channel 2 … … … Channel 16 Measurements of Channel 16 3.1.2.4. Tail Field Bytes Description Reserved Return Mode 0x33 — First Return 0x37 — Strongest Return 0x38 — Last Return 0x39 — Dual Return (Last and Strongest) 0x3B — Dual Return (Last and First) 0x3C — Dual Return (First and Strongest) Motor Speed Unit: RPM...
  • Page 51 Field Bytes Description Date & Time UTC (Coordinated Universal Time) of this data packet, accurate to the second. In big-endian format: Each byte Range (decimal) Year (current year minus 1900) ≥70 Month 1 to 12 1 to 31 Hour 0 to 23 Minute 0 to 59 Second...

  • Page 52: Ethernet Tail

    3.1.2.5. Additional information Field Bytes Description UDP Sequence Sequence number of this data packet Range: 0 to 0xFF FF FF FF 3.1.3. Ethernet tail Field Bytes Description Frame check sequence -48-...

  • Page 53: Point Cloud Data Analysis

    3.1.4. Point cloud data analysis method Take Channel 5 in Block 2 as an example. 3.1.4.1. Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 7°, according to Appendix A Channel distribution data. The accurate vertical angles are recorded in the angle correction file of this lidar (see Section 1.3 Channel distribution).
  • Page 54 3.1.4.2. Analyze the horizontal angle of a data point  The Y-axis of the lidar coordinate system is 0°. The clockwise direction (as viewed from above) is defined as positive. Horizontal angle = ① + ② ① Angular position at the start time (see Section B.3 Start time of each block) of the current block ②...
  • Page 55 3.1.4.3. Analyze the distance of a data point Distance See the field of Block 2: Channel 5 in Section 3.1.2.3 Body. 3.1.4.4. Draw the data point in a spherical or rectangular coordinate system 3.1.4.5. Obtain the real-time point cloud data by analyzing and drawing every data point in each frame -51-...

  • Page 56: Gps Data Packet

    3.2. GPS Data Packet When GPS is selected as the clock source, a GPS Data Packet is triggered every second. When PTP is selected as the clock source, the lidar does not output GPS Data Packet.  To select the clock source, refer to Section 4.2.3 Time sync.

  • Page 57: Gps Udp Data

    3.2.2. GPS UDP data Field Bytes Description GPS Time Data GPS time, accurate to the second Field Bytes Description GPS Header 0xFFEE (0xFF first) Date Year, month, and day in ASCII (2 bytes each, lower byte first) Time Second, minute, and hour in ASCII (2 bytes each, lower byte first) Reserved NMEA Data NMEA sentence containing date and time...
  • Page 58 3.2.2.1. GPRMC data format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field No. Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) — Active (valid position) V (hex = 56) — Void (invalid position) NUL (hex = 0) — GPS unlocked …...
  • Page 59 3.2.2.2. GPGGA data format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field No. Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format … … … <06> GPS Fix Quality Range: 0 to 9 Refer to the description given by the GPS device provider.

  • Page 60: Ethernet Tail

    3.2.3. Ethernet tail Field Bytes Description Frame check sequence -56-...

  • Page 61: Gps Time Data Analysis Method

    3.2.4. GPS time data analysis method Figure 26. GPS Data packet: GPS time data (example) Date Field Data (in ASCII) Characters Meaning Year 0x30 0x32 '0', '2' Month 0x34 0x30 '4', '0' 0x37 0x30 '7', '0' Time Field Data (in ASCII) Characters Meaning Second...

  • Page 62: Web Control

    4. Web control Web control is used for setting parameters, checking device info, and upgrading software/firmware. To access web control, follow the steps below: Connect the lidar to your PC using an Ethernet cable. Complete Section 2.4 Network settings on the receiving host.

  • Page 63: Home

    4.1. Home Status Spin Rate 600 RPM Unlock NMEA (GPRMC/GPGGA) Unlock Free Run Device Info  Device Log  Model PandarXT-16 XTXXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 1.0.13 Sensor Firmware Version 1.5.8 Controller Firmware Version 1.2.8 Buttons and parameters Device Log Click to download a JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log.
  • Page 64 NMEA (GPRMC/GPGGA) NMEA status Lock: After receiving a valid NMEA message. • Unlock: Not receiving a valid NMEA message for over 2 seconds. • PTP status Free Run: No PTP master is selected. • Tracking: Attempting to sync with the selected PTP Master, but the absolute offset exceeds the user-specified •...

  • Page 65: Settings

    4.2. Settings  Reset All Settings  Control IP IPv4 Address 192.168.1.201 IPv4 Mask 255.255.255.0 IPv4 Gateway 192.168.1.1 VLAN □ Settings Destination IP 255.255.255.255 Lidar Destination Port 2368 Spin Rate 600 RPM Return Mode Last and Strongest Sync Angle □ Trigger Method Angle Based Clock Source     GPS Mode...
  • Page 66 Buttons Reset All Settings Reset all the configurable parameters to factory defaults, including: Settings • Azimuth FOV • Save Save and execute all the settings on this page. Exception: Standby Mode takes effect immediately without having to click this button. -62-...

  • Page 67: Network

    4.2.1. Network Parameters Options Description VLAN Default: OFF To enable VLAN tagging: VLAN ID: 1 to 4094 Make sure the receiving host also supports VLAN; • Check the checkbox and input the lidar's VLAN ID (same as the receiving host's VLAN •...

  • Page 68: Function

    4.2.2. Function Parameters Options Description Spin Rate Spin rate of the motor The set spin rate is also shown on the Home page and the Point Cloud Data Packets (see 600 (default) 1200 Return Mode Section 4.1 Home and the field in Section 3.1.2.4 Tail).
  • Page 69 Parameters Options Description Sync Angle 0° to 359° Phase lock angle Unit: ° To activate this function, check the checkbox and input an azimuth. • At every full second, the lidar will rotate to that azimuthal position. •  Lidar azimuthal position is defined in Section 1.2 Basic structure.
  • Page 70 Parameters Options Description Reflectivity Mapping Linear Mapping (default) Linear Mapping Reflectivity field in Point Cloud Data Packets linearly Nonlinear Mapping represents target reflectivity (0 to 255%). Nonlinear Increases the contrast in low-reflectivity areas (see Appendix D Mapping Nonlinear reflectivity mapping). Standby Mode In Operation (default) In Standby mode, the motor stops running and lasers stop firing.

  • Page 71: Time Sync

    4.2.3. Time sync With GPS selected Clock Source     GPS Mode GPRMC     GPS Destination Port 10110 With PTP selected Clock Source     Profile 1588v2     Time Offset for Lidar Lock     PTP Network Transport UDP/IP     PTP Domain Number     PTP logAnnounceInterval     PTP logSyncInterval     PTP logMinDelayReqInterval Parameters Options Description...
  • Page 72 4.2.3.1. With GPS selected Parameters Options Description GPS Mode GPRMC (default) Format of the NMEA data received from the external GPS module (see Section 3.2.2 GPS GPGGA data.) ON (default) When this setting is ON, PPS must be locked (in addition to NMEA being locked) when Require PPS Lock updating the lidar's Date &...
  • Page 73 4.2.3.2. With PTP selected The lidar does NOT output GPS Data Packets. Parameters Options Description Profile 1588v2 (default) IEEE timing and synchronization standard 802.1AS 802.1AS Automotive Time Offset for Lidar Lock 1 to 100 μs (integer) Upper limit of the absolute offset between Slave and Master when the lidar is in PTP Default: 1 Locked status;...

  • Page 74: Azimuth Fov

    4.3. Azimuth FOV Azimuth FOV Setting For all channels ▼  Save  Buttons Save Save and execute all the settings on this page. Parameters Options Description Azimuth FOV Setting For all channels (default) Configuration mode of the azimuth FOV Multi-section FOV The lidar outputs valid data only within the specified azimuth FOV ranges.

  • Page 75: For All Channels

    4.3.1. For all channels Input a start angle and an end angle to form a continuous angle range [Start, End]. This range applies to all channels. Azimuth FOV Setting For all channels Start: Azimuth FOV for All Channels End: 360.0  Save ...

  • Page 76: Operation Statistics

    4.4. Operation statistics Start-Up counts Internal Temperature 32.10℃ Internal Humidity 50.0% RH System uptime 0 h 5 min Total Operation Time 559 h 43 min Internal Temperature Operation Time < –40℃ 0 h 1 min –40 to –20℃ 0 h 46 min –20 to 0℃...

  • Page 77: Upgrade

    4.5. Upgrade Preparation Please contact Hesai technical support to receive the upgrade file. • During the upgrade, it is recommended to place a protective cover or other opaque material over the lidar's cover lens. • Upgrade Click the [ Upload ] button and select an upgrade file.

  • Page 78: Protocol

    5. Communication protocol HTTP API and Pandar TCP Commands (PTC) API can be used to communicate with Hesai lidars.  To acquire the API reference manuals, please contact Hesai technical support. -74-...

  • Page 79: Maintenance

    6. Maintenance Stains on lidar's cover lens, such as dirt, fingerprints, and oil will negatively affect point cloud data quality. Please clean the cover lens in time. Turn OFF the power source before cleaning.  • To avoid damaging the optical coating, do NOT apply significant pressure when wiping the cover lens. •...

  • Page 80: Troubleshooting

    7. Troubleshooting If the following procedures cannot solve your problem, please contact Hesai technical support. Points to check Symptoms Make sure that the following conditions are met: The power adapter is properly connected and in good condition. • Indicator light is off on the The connection box is intact.
  • Page 81 Wireshark but not on or PTC commands. PandarView 2 The latest PandarView 2 is installed on the PC (see Downloads page of Hesai's official website or contact Hesai • technical support). Power on again to check if the symptom persists.
  • Page 82 If no packet is missing and the point cloud flashes, please update PandarView 2 to the latest version (see Downloads page of Hesai's official website or contact Hesai technical support); and then restart the PC. If the point cloud is still abnormal, connect the lidar to another PC and power on again to check if the symptom persists.
  • Page 83 Points to check Symptoms Make sure that the following conditions are met: GPS receiver is properly connected. • PPS signal is connected to the lidar. • GPS cannot be locked GPS Destination Port is correctly set, this can be confirmed using either web control or PTC commands. •...

  • Page 84: Appendix A: Channel Distribution Data

    Appendix A: Channel distribution data The vertical angles (elevation) in the table are design values. • The accurate values are in this lidar's angle correction file (see Section 1.3.3 Angle correction file Section 3.1.4 Point cloud data analysis • method). Vertical Horizontal Angle Offset Range @ Target Reflectivity...
  • Page 85 Vertical Horizontal Angle Offset Range @ Target Reflectivity Channel number Instrument Range Angle PoD > 90% (Azimuth) (Elevation) 0° –15° 120 m 50 m @10% -81-...

  • Page 86: Appendix B: Absolute Time Of Point Cloud Data

    Appendix B: Absolute time of point cloud data B.1. Source of absolute time The lidar retrieves the current absolute time by connecting to an external clock source. B.1.1. GPS as the clock source The lidar connects to a third-party GPS module to obtain pulse-per-second (PPS) signal and NMEA sentences. NMEA sentence ($GPRMC or $GPGGA) can be select using either web control or PTC commands.

  • Page 87: Ptp As The Clock

    NMEA status Date and time (accurate Lidar behavior to the second) Locked Synchronized At each rising edge of the internal 1 Hz signal, the lidar obtains the actual date and time by performing these two steps: Extract the date and time from the previous NMEA message. Add 1 full second.
  • Page 88 PTP can be configured using either web control or PTC commands. • PTP signal status can be queried using either web control or PTC commands. • When using PTP, the lidar does not output GPS Data Packets. • The absolute time is updated as follows: PTP status Date and time (accurate Lidar behavior...

  • Page 89: Absolute Time Of Point Cloud Data Packets

    B.2. Absolute time of Point Cloud Data Packets The Absolute time of Point Cloud Data Packets is t , where: Date & Time • is the whole second part (see the field). Timestamp • is the microsecond part (see the field).

  • Page 90: Laser Firing Time Of Each Channel

    Dual return mode Block Start time (μs) Blocks 8 & 7 + 5.632 Blocks 6 & 5 + 5.632 – 50 × 1 Blocks 4 & 3 + 5.632 – 50 × 2 Blocks 2 & 1 + 5.632 – 50 × 3 B.4.

  • Page 91: Appendix C: Power Supply Requirements

    Appendix C: Power supply requirements C.1. Input voltage To ensure that the input voltage at the lidar's Lemo connector is 9 to 36 V DC, please check the specifications of the power source and the voltage drop over cables. C.1.1. Calculate the cable voltage drop Using the estimation formula We recommend using 26 AWG cables, which is the thickest wire gauge supported by the lidar.

  • Page 92: Avoid Overvoltage

    C.1.2. Avoid overvoltage When the lidar's input voltage approaches 36 V, make sure there is no additional overshoot in the external power system. Even a short period of overvoltage can cause irreversible damage to the lidar. C.2. Power Consumption The lidar's peak power consumption is below 30 W in all operating conditions. After a power-on in an ambient temperature below 0°C, power consumption typically remains around 15 W for a period of time.
  • Page 93 During a power-down, the lidar's input voltage, after dropping below 1 V, should remain for more than 50 ms before the next power-up. -89-...

  • Page 94: Appendix D: Nonlinear Reflectivity Mapping

    Appendix D: Nonlinear reflectivity mapping Reflectivity By default, the field in Point Cloud Data Packets (see Section 3.1.2.3 Body) linearly represents target reflectivity. Reflectivity • Range of the field value: 0 to 255 Range of target reflectivity: 0 to 255% •...
  • Page 95 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 5.77 6.45 7.07 7.64 8.16 8.66 9.13 9.57 10.41 10.8 11.18 11.55 11.9 12.25 12.58 12.91 13.23 13.54 13.84 14.14 14.43 14.72 15.28...
  • Page 96 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 62.08 63.21 64.33 65.46 66.59 67.72 68.85 69.98 71.11 72.23 73.36 74.49 75.62 76.75 77.88 79.01 80.14 81.26 82.39 83.52 84.65 85.78 86.91...
  • Page 97 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 152.37 153.5 154.63 155.76 156.88 158.01 159.14 160.27 161.4 162.53 163.66 164.79 165.91 167.04 168.17 169.3 170.43 171.56 172.69 173.81 174.94 176.07 177.2...
  • Page 98 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08 -94-...

  • Page 99: Appendix E: Legal Notice

    HESAI and HESAI logo are registered trademarks of Hesai Technology. All other trademarks, service marks, and company names in this manual or on Hesai's official website are properties of their respective owners.
  • Page 100 Hesai Technology Co., Ltd. Phone: +86 400 805 1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China...

Table of Contents