Hesai Pandar64 User Manual
  1. Manuals
  2. Brands
  3. Hesai Manuals
  4. Radar
  5. Pandar64
  6. User manual

Hesai Pandar64 User Manual

64-channel mechanical lidar
Hide thumbs Also See for Pandar64:
Table of Contents

Advertisement

Quick Links

Download this manual
www.hesaitech.com
Pandar64
64-Channel Mechanical Lidar
User Manual
Classification: Public
Doc Version: 640-en-240410

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Pandar64 and is the answer not in the manual?

Questions and answers

Related Manuals for Hesai Pandar64

Summary of Contents for Hesai Pandar64

  • Page 1 Pandar64 64-Channel Mechanical Lidar User Manual Classification: Public Doc Version: 640-en-240410...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.3. Connection box (optional) ...................... ...
  • Page 4 4.5. Upgrade......................... .  ...

  • Page 5: About This Manual

    Access to this manual To obtain the latest version, please do one of the following: Visit the Download 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 Pandar64 Vibration If significant mechanical shocks and vibration exist in the product's operating environment, please contact Hesai's technical support 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 Do NOT use out-of-spec or damaged cables or adapters. • You are recommended to use only the cables and power adapters provided by Hesai. If you are to design, configure, or select the power supply • system (including cables) for the product, make sure to comply with the electrical specifications in the product's user manual (refer to Section 1.4 Specifications...
  • 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 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 more 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

    Pandar64 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.

  • Page 15: Basic Structure

    Pandar64 1.2. Basic structure The basic structure is shown in Figure 64 pairs of laser emitters and receivers are attached to a motor that rotates 360° horizontally. Figure 1. Partial cross-sectional diagram Figure 2. Coordinate system (isometric view) Figure 3. Rotation direction (top view)

  • Page 16: Channel Distribution

    Pandar64 1.3. Channel distribution All channels are unevenly distributed, as illustrated in Figure Figure 4. Channel vertical distribution Figure 5. Laser firing position (unit: mm) Each channel has an intrinsic angle offset, both horizontally and vertically. The offset angles are recorded in the angle correction file of this lidar, which is provided when shipping.

  • Page 17: Specifications

    Pandar64 1.4. Specifications Sensor Scanning method Mechanical rotation Channel number Ranging capability 0.3 to 200 m (at 10% reflectivity) Ranging accuracy ① ±5 cm (0.3 to 1 m), ±2 cm (1 to 200 m) Horizontal FOV 360° Horizontal resolution 0.2° (10 Hz), 0.4° (20 Hz) Vertical FOV 40°...
  • Page 18 Pandar64 Power consumption ② 22 W (typical) Operating temperature –20℃ to 65℃ Storage temperature –40℃ to 85℃ Weight 1.52 kg Data I/O Data transmission 100BASE-TX, slave mode Measurements Distance, azimuth angle, and reflectivity Valid data points Single Return:  : 1 152 000 points/sec Dual Return:  : 2 304 000 points/sec...

  • Page 19: Setup

    Pandar64 2. Setup Before operating the lidar, strip away the protective cover on the cover lens. The information in this section may be different for customized models. The mechanical drawings and data exclusively provided for  customized models shall prevail.
  • Page 20 Pandar64 Figure 7. Bottom view (unit: mm) -16-...

  • Page 21: Quick Installation

    Pandar64 2.1.2. Quick installation Figure 8. Quick installation 2.1.3. Stable installation Figure 9. Stable installation -17-...

  • Page 22: Notes On Screw Installation

    Pandar64 2.1.4. 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. LOCTITE® 263 Threadlocker is recommended.

  • Page 23: Electrical Interface

    Pandar64 2.2. Electrical interface Lemo connector is the default communication connector. Another option is the Phoenix connector, detailed in Appendix C Phoenix connector. Lemo part number: FGG.2T.316.CLAC75Z (male plug, on the lidar) Figure 10. Lemo connector (unit: mm) 2.2.1. Pin description Pin No.
  • Page 24 Pandar64  For the GPS PPS signal, the pulse width is recommended to be over 1 ms, and the cycle is 1 s (rising edge to rising edge). Before connecting or disconnecting an external GPS signal (either using the cable's GPS wire or via the connection box's GPS port), make •...

  • Page 25: 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 26: Bending Of Cables

    Pandar64 Figure 11. Lemo connection/disconnection 2.2.3. Bending of cables Outside diameter (OD) = 7.50 ± 0.30 mm Minimum bend radius: 7.5 × OD  To avoid damaging the cable, do not bend the cable at the cable gland. -22-...

  • Page 27: Connection Box (Optional)

    Pandar64 2.3. Connection box (optional) Users may connect the lidar with or without a connection box. Lemo part number: PHG.2T.316.CLLC75Z (female socket, on the connection box) Figure 12. Connection box (unit: mm) -23-...

  • Page 28: Ports

    Pandar64 2.3.1. Ports Figure 13. Connection box (front) Port No. Port name Description Standard Ethernet port RJ45, 100 Mbps Ethernet Power port Connects to a DC-005 DC power adapter. GPS port Connector type: JST, SM06B-SRSS-TB Recommended connector for the external GPS module: JST, SHR-06V-S-B...
  • Page 29 Pandar64 Pin No. Direction Description Requirements Output Ground for the external GPS module Reserved -25-...
  • Page 30 Pandar64 For Pandar64 lidars with Lemo connectors, a trigger port is added to output external trigger signals. Figure 14. Connection box (back) Port No. Port name Description Trigger port Outputs external trigger signals for multi-sensor synchronization. Connector (male socket): Molex, LLC 5023520300 Recommended wire connector (female plug): Molex, LLC 5023510300 Voltage: 0 to 3.3 V...

  • Page 31: Connection

    Pandar64 2.3.2. Connection Figure 15. Connection box (connection with GPS) -27-...
  • Page 32 Pandar64 Figure 16. Connection box (connection with PTP) -28-...

  • Page 33: Network Settings On The Receiving Host

    Purpose Where to find it PandarView 2 (point cloud To record and display point cloud data. Visit the Download page of Hesai's official website visualization software) contact Hesai technical support. web control、API To set parameters, check device info or upgrade...
  • Page 34 Pandar64 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 -30-...

  • Page 35: Data Structure

    Pandar64 3. Data structure Ethernet header: 42 bytes Header: 8 bytes Point Cloud Data Packet: 1240 bytes* UDP data: 1194 bytes * Body: 1164 bytes Tail: 22 bytes * Ethernet tail: 4 bytes Lidar data Ethernet header: 42 bytes GPS Data Packet: 558 bytes...

  • Page 36: Point Cloud Data Packet

    Pandar64 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 Byte(s) 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...

  • Page 37: Point Cloud Udp Data

    Pandar64 3.1.2. Point cloud UDP data 3.1.2.1. Header Field Bytes Description 0xEE Start of Packet 0xFF Start of Packet Laser N 0x40 (64 channels) Block N 0x06 (6 blocks per packet) Reserved Dis Unit Fixed: 0x04 (4 mm) Reserved Reserved...
  • Page 38 Pandar64 3.1.2.2. Body Return mode Return Mode field in Section 3.1.2.3 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, and the fields of these two blocks are the same.
  • Page 39 Pandar64 Field Byte(s) Description Channel 1 Measurements of Channel 1 Field Bytes Description Distance Distance Dis Unit Object distance = ×  Dis Unit is specified in Section 3.1.2.1 Header. Reflectivity Range: 0 to 255 The mapping relation between this field and target ...
  • Page 40 Pandar64 Motor Speed Unit: RPM  Spin rate of the motor (RPM) = frame rate (Hz) × 60 Timestamp The "μs time" part of the absolute time of this data packet Unit: μs Range: 0 to 999 999 μs To see the definition of absolute time, please refer to Appendix B Absolute time of point cloud ...

  • Page 41: Ethernet Tail

    Pandar64 Date & Time Absolute time of this data packet, accurate to the second. In big-endian format: Each byte Range (decimal) Year (current year minus 2000) Positive integers Month 1 to 12 1 to 31 Hour 0 to 23 Minute...

  • Page 42: Point Cloud Data Analysis

    Pandar64 3.1.4. Point cloud data analysis method Take Channel 5 in Block 3 as an example. 3.1.4.1. Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 3.04°, according to Appendix A Channel distribution data.
  • Page 43 Pandar64 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 (in the top view) is defined as positive (see Figure 3. Rotation direction  (top view)). Horizontal angle = ① + ②...
  • Page 44 Pandar64 3.1.4.4. Draw the data point in a polar 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 -40-...

  • Page 45: Gps Data Packet

    Pandar64 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...

  • Page 46: Gps Udp Data

    Pandar64 3.2.2. GPS UDP data Field Byte(s) 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)
  • Page 47 Pandar64 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)
  • Page 48 Pandar64 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>...

  • Page 49: Ethernet Tail

    Pandar64 3.2.3. Ethernet tail Field Byte(s) Description Frame check sequence -45-...

  • Page 50: Gps Time Data Analysis Method

    Pandar64 3.2.4. GPS time data analysis method Figure 18. 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)

  • Page 51: Web Control

    Pandar64 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 52: Home

    Pandar64 4.1. Home Status Spin Rate 600 RPM Unlock NMEA (GPRMC/GPGGA) Unlock Free Run Device Info  Device Log  Model Pandar64 PA64XXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 2.10.8 Sensor Firmware Version 4.3.44b Controller Firmware Version 5.32 Button description Device Log Click to download a .JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log.
  • Page 53 Pandar64 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 54: Settings

    Pandar64 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 Dual Return Sync Angle □ Trigger Method...
  • Page 55 Pandar64 Reflectivity Mapping Linear Mapping Standby Mode In Operation/Standby  Save  Button description 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.

  • Page 56: Network

    Pandar64 4.2.1. Network Parameter Options Description Control IP: 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 57: Function

    Pandar64 4.2.2. Function Parameter Options Description Spin Rate 600 RPM (default) Motor Speed The accurate spin rate is shown in Point Cloud Data Packets (see the field 1200 RPM Section 3.1.2.3 Tail). The set spin rate is also shown on the Home page (see Section 4.1...
  • Page 58 Pandar64 Parameter 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. • ...
  • Page 59 Pandar64 Parameter Options Description Interstitial Points OFF (default) To reduce the interstitial points. Filtering Definition of interstitial points:  When a beam partially hits a front target's edge and further hits a rear target, the return signal can result in a false point located between both targets.

  • Page 60: Time Sync

    Pandar64 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...
  • Page 61 Pandar64 4.2.3.1. With GPS selected Parameter 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) GPS Baud Rate 9600 19200 38400 115200 Destination Port Default: 10110 Port used for sending GPS Data Packets 4.2.3.2.

  • Page 62: Azimuth Fov

    Pandar64 When using the 1588v2 profile, these additional parameters can be configured: Parameter Options Description PTP logAnnounceInterval –2 to 3 Time interval between Announce messages Default: 1 Default: 1 log second (equals to 2 = 2 seconds) PTP logSyncInterval –7 to 3...
  • Page 63 Pandar64 Parameter 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. The angles in degrees are accurate to the first decimal place.

  • Page 64: For All Channels

    Pandar64 4.3.1. For all channels Input a Start Angle and an End Angle to form a continuous angle range [Start, End] which applies to all channels. Azimuth FOV Setting For all channels Start: Azimuth FOV for All Channels End: 360.0  Save ...

  • Page 65: Multi-Section Fov

    Pandar64 4.3.3. Multi-section FOV For each channel, input multiple (≤10) sets of Start Angles and End Angles to form multiple continuous angle ranges. The [ Status ] buttons for each channel: are gray by default, indicating that the angle range is [0°, 360°].

  • Page 66: Operation Statistics

    Pandar64 4.4. Operation statistics These operating parameters are displayed in real time: Start-Up Counts Internal Temperature 32.10℃ 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℃...

  • Page 67: Upgrade

    Pandar64 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 68: Protocol

    Pandar64 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. -64-...

  • Page 69: Maintenance

    Pandar64 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 70: Troubleshooting

    Pandar64 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 71 Wireshark but The PC's firewall is disabled, or PandarView 2 is added to the firewall exceptions. • The latest PandarView 2 is installed on the PC (see Downloads page of Hesai's official website or contact Hesai not by PandarView 2. •...
  • Page 72 Pandar64 Symptoms Points to check Make sure that the following conditions are met: Azimuth FOV is properly set; this can be confirmed using either web control or PTC commands. • Spin Rate is steady; this can be confirmed using web control, PandarView 2 or PTC commands or by checking the •...
  • Page 73 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, follow the steps below: Connect the lidar to another PC and another network.

  • Page 74: Appendix A: Channel Distribution Data

    Pandar64 Appendix A: Channel distribution data The Horizontal angle (azimuth) offsets and vertical angles (elevation) in the table next page are design values. The accurate values are in the angle correction file of this lidar; see Section 1.3 Channel distribution Section 3.1.4 Point cloud data...
  • Page 75 Pandar64 Channel No. Horizontal angle offset Vertical angle Instrumented range Ranging capability in UDP data (azimuth) (elevation) (unit: m) with reflectivity (unit: m) –1.042° 14.882° 130 m 200 m @20% –1.042° 11.032° 130 m 200 m @20% –1.042° 8.059° 130 m 200 m @20% –1.042°...
  • Page 76 Pandar64 Channel No. Horizontal angle offset Vertical angle Instrumented range Ranging capability in UDP data (azimuth) (elevation) (unit: m) with reflectivity (unit: m) 5.208° –0.508° 230 m 200 m @10% –5.208° –0.675° 230 m 200 m @10% –3.125° –0.845° 230 m 200 m @10% –1.042°...
  • Page 77 Pandar64 Channel No. Horizontal angle offset Vertical angle Instrumented range Ranging capability in UDP data (azimuth) (elevation) (unit: m) with reflectivity (unit: m) –3.125° –3.884° 130 m 200 m @20% –1.042° –4.050° 230 m 200 m @20% 1.042° –4.221° 130 m 200 m @20% 3.125°...
  • Page 78 Pandar64 Channel No. Horizontal angle offset Vertical angle Instrumented range Ranging capability in UDP data (azimuth) (elevation) (unit: m) with reflectivity (unit: m) –1.042° –12.974° 130 m 200 m @20% –1.042° –13.930° 130 m 200 m @20% –1.042° –18.889° 130 m 200 m @20% –1.042°...

  • Page 79: Appendix B: Absolute Time Of Point Cloud Data

    Pandar64 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) signals and NMEA sentences.

  • Page 80: Ptp As The Clock

    Pandar64 NMEA status Date and time (accurate Lidar behavior to the second) Unlocked (Lost) Drifting When the lidar goes from Locked to Unlocked, it starts counting from the last synchronized time using the lidar's internal 1 Hz signal. This absolute time will gradually drift from the actual GPS time.
  • Page 81 Pandar64 PTP status Date and time (accurate Lidar behavior to the microsecond) Frozen Drifting When the lidar goes from Tracking/Locked to Frozen, it starts counting from the last synchronized time using the lidar's internal 1 Hz signal. This absolute time will gradually drift from the actual PTP time.

  • Page 82: Absolute Time Of Point Cloud Data Packets

    Pandar64 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 83: Laser Firing Time Of Each Channel

    Pandar64 B.4. Laser firing time of each channel Assume that the end time of Block m is T(m), m ∈ {1, 2, …, 6}, then the laser firing time of Channel n in Block m is t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 64}.
  • Page 84 Pandar64 Firing sequence Channel No. Δt(n) (μs) –38.924 –38.924 –36.956 –36.956 –34.988 –34.988 –33.02 –33.02 –31.052 –31.052 –29.084 –29.084 –27.116 –27.116 –25.148 –25.148 –23.18 –23.18 –21.876 –21.876 –20.572 -80-...
  • Page 85 Pandar64 Firing sequence Channel No. Δt(n) (μs) –20.572 –19.268 –19.268 –17.964 –17.964 –16.66 –16.66 –15.356 –15.356 –14.052 –14.052 –12.748 –12.748 –11.444 –11.444 –10.14 –10.14 –8.836 –8.836 –7.532 –7.532 -81-...
  • Page 86 Pandar64 Firing sequence Channel No. Δt(n) (μs) –6.228 –6.228 –4.924 –4.924 –3.62 –3.62 -82-...

  • Page 87: Appendix C: Phoenix Connector

    Pandar64 Appendix C: Phoenix connector Phoenix contact can be used as the lidar's communication connector, in place of the default Lemo contact Section 2.2 Electrical interface. Phoenix part number: SACC-M12MS-8CON-PG 9-SH - 1511857 (male, on the lidar) SACC-M12FS-8CON-PG 9-SH - 1511860 (female, on the connection box) Figure 19.
  • Page 88 Pandar64 Pin No. Signal Wire color Voltage GPS PPS Yellow 3.3 V/5 V +12 V 12 V Ground (Return) Black -84-...

  • Page 89: Appendix D: Nonlinear Reflectivity Mapping

    Pandar64 Appendix D: Nonlinear reflectivity mapping Reflectivity By default, the field in Point Cloud Data Packets (see Section 3.1.2.2 Body) linearly represents target reflectivity. Reflectivity • Range of the field value: 0 to 255 Range of target reflectivity: 0 to 255% •...
  • Page 90 Pandar64 Nonlinear mapping Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 0.01 0.02 0.03 0.04 0.05 0.08 0.11 0.13 0.15 0.19 0.23 0.26 0.29 0.34 0.39 0.44 0.56 0.61...
  • Page 91 Pandar64 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 10.17 10.5 10.83 11.12 11.37 11.62 11.87 12.12 12.37 12.62 12.87 13.17 13.5 13.83 14.17 14.5 14.83 15.12 15.37 15.62...
  • Page 92 Pandar64 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 38.75 39.17 39.5 39.83 40.5 41.25 41.75 42.25 42.75 43.25 43.75 44.25 44.75 45.25 45.75 46.25 46.75 47.25 47.75 48.25...
  • Page 93 Pandar64 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 87.75 88.5 89.25 89.75 90.5 91.5 92.5 93.25 93.75 94.5 95.5 96.25 96.75 97.5 98.5 99.5 -89-...

  • Page 94: 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 95 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