Hesai Pandar128E3X User Manual
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Hesai Pandar128E3X User Manual

128-channel mechanical lidar
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Pandar128E3X
128-Channel Mechanical Lidar
User Manual
Classification: Public
Doc Version: 128-en-240310

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Summary of Contents for Hesai Pandar128E3X

  • Page 1 Pandar128E3X 128-Channel Mechanical Lidar User Manual Classification: Public Doc Version: 128-en-240310...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.3. Connection box (optional) ...................... ...
  • Page 4 4.6. Monitor ......................... .  ...

  • 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 Pandar128E3X_v4p5 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

    Pandar128E3X_v4p5 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

    Pandar128E3X_v4p5 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 Figure 2. Coordinate system (isometric view) Figure 3.
  • Page 16 Pandar128E3X_v4p5 the lidar is at the 90° position. • Azimuth • field in the corresponding data block in the Point Cloud Data Packet is 90°. -12-...

  • Page 17: Channel Distribution

    Pandar128E3X_v4p5 1.3. Channel distribution All channels are unevenly distributed, as illustrated in Figure 4. Channel vertical distribution. Vertical resolution: See Section 1.4 Specifications. • The design values of each channel's angular position: See Appendix A Channel distribution data. • Channel number counts from 1, top to bottom. •...
  • Page 18 Pandar128E3X_v4p5 Figure 5. Laser firing position (unit: mm) Each channel has an intrinsic angle offset, both horizontally and vertically. 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 Section 5 Communication protocol).

  • Page 19: Specifications

    Pandar128E3X_v4p5 1.4. Specifications SENSOR Scanning method Mechanical rotation Number of channels Ranging capability ①③ 0.3 to 200 m (at 10% reflectivity) Ranging accuracy ② ±8 cm (0.3 to 0.5 m, each channel) ±5 cm (0.5 to 1 m, each channel) ±2 cm (1 to 200 m, average) Horizontal FOV 360°...
  • Page 20 Pandar128E3X_v4p5 Ingress protection IP6K7 & IP6K9K Dimensions Height: 123.7 mm Top/bottom: Φ118.0/116.0 mm Rated voltage range DC 9 to 48 V Power consumption ④ 27 W (high-resolution mode) 23 W (standard mode) Operating temperature –40℃ to 85℃ Storage temperature –40℃ to 85℃ Weight 1.63 kg DATA I/O...
  • Page 21 Pandar128E3X_v4p5 Notes to specifications ① Ranging capability Measured under 100 klux ambient illuminance. • The ranging capability of each channel is listed in Appendix A Channel distribution • data. ② Ranging accuracy May vary with range, temperature, and target reflectivity. ③...

  • Page 22: Setup

    Pandar128E3X_v4p5 2. Setup Before operating the lidar, strip away the protective cover on the cover lens. 2.1. Mechanical installation 2.1.1. Exterior dimensions Figure 6. Front view (unit: mm) -18-...
  • Page 23 Pandar128E3X_v4p5 Figure 7. Bottom view (unit: mm) -19-...

  • Page 24: Quick Installation

    Pandar128E3X_v4p5 2.1.2. Quick installation Figure 8. Quick installation -20-...

  • Page 25: Stable Installation

    Pandar128E3X_v4p5 2.1.3. Stable installation Figure 9. Stable installation -21-...

  • Page 26: Notes On Screw Installation

    Pandar128E3X_v4p5 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. To ensure curing it in place, wait for at least 12 hours before operating the lidar.

  • Page 27: Electrical Interface

    Pandar128E3X_v4p5 2.2. Electrical interface Lemo part number: EEG.2T.316.CLN (female socket, on the lidar)   Figure 10. Lemo connector (female socket) -23-...

  • Page 28: Pin Description

    Pandar128E3X_v4p5 2.2.1. Pin description Standard 1000BASE-T Signal Voltage Wire color Ground (Return) Black Ground (Return) White Ethernet BI_DC- –1 to 1 V Blue Ethernet BI_DC+ –1 to 1 V Blue/White Ethernet BI_DB- –1 to 1 V Green Ethernet BI_DB+ –1 to 1 V Green/White Ethernet BI_DA- –1 to 1 V...
  • Page 29 Pandar128E3X_v4p5 Automotive 1000BASE-T1 Signal Voltage Wire color Ground (Return) Black Ground (Return) White Ethernet_Data- –1 to 1 V Blue Ethernet_Data+ –1 to 1 V Blue/White 5 to 8  —   —   —  GPS Serial Data –13 to +13 V Yellow Power 9 to 48 V Power 9 to 48 V...
  • Page 30 Pandar128E3X_v4p5 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 31: Connector Use

     connectors' shells, or even damage the contacts. 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 32: Bending Of Cables

    Pandar128E3X_v4p5 The connector is designed to withstand at least 1000 mating cycles; exceeding this number may increase the risk of connector damage. • 2.2.3. Bending of cables Outer diameter (OD) = 7.70 ± 0.30 mm Minimum bend radius = 5 × OD -28-...

  • Page 33: Connection Box (Optional)

    Pandar128E3X_v4p5 2.3. Connection box (optional) Users may connect the lidar with or without a connection box. Figure 12. Connection box Unit: mm •  Lemo part number: FSG.2T.316.CLAC80Z (male plug, on the connection box) • -29-...

  • Page 34: Ports

    Pandar128E3X_v4p5 2.3.1. Ports Figure 13. Connection box (front) Port No. Port name Description Standard Ethernet port RJ45, Standard 1000BASE-T Ethernet Power port Use a DC-005 power adapter. GPS port Accepts GPS signals (for time synchronization). Connector JST: SM06B-SRSS-TB Recommended connector for JST: SHR-06V-S-B the external GPS module Voltage standard...
  • Page 35 Pandar128E3X_v4p5 Pin No. Direction Description Requirements Output Power for the external GPS module Output Ground for the external GPS module Input Receiving serial data from the external GPS module RS232 level Output Ground for the external GPS module Reserved -31-...
  • Page 36 Pandar128E3X_v4p5 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 Molex, LLC: 5023510300 (female plug) Voltage 0 to 3.3 V Signal type Pulse Max.

  • Page 37: Connection

    Pandar128E3X_v4p5 2.3.2. Connection Figure 15. Connection when using GPS -33-...
  • Page 38 Pandar128E3X_v4p5 Figure 16. Connection when using PTP -34-...

  • Page 39: Network Settings On The Receiving Host

    To set parameters, check device info or upgrade web control: See Section 4 Web control. • firmware/software API: Please contact Hesai technical support. • Network parameters:  Default Source IPv4 address: 192.168.1.201 • Default PTC port: 9347 •...
  • Page 40 Pandar128E3X_v4p5 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 -36-...

  • Page 41: Data Structure

    Pandar128E3X_v4p5 3. Data structure Unless otherwise specified, all the multi-byte fields are unsigned values in little-endian format. Ethernet header: 42 bytes Pre-Header: 6 bytes Header: 6 bytes Point Cloud Data Packet: 935 bytes * Body: 776 bytes UDP data: 893 bytes * Functional safety: 17 bytes Lidar data Tail: 56 bytes...

  • Page 42: Point Cloud Data Packet

    Pandar128E3X_v4p5 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 0x08, 0x00 Internet Protocol Protocol parameters...

  • Page 43: Point Cloud Udp Data

    Pandar128E3X_v4p5 3.1.2. Point cloud UDP data 3.1.2.1. Pre-Header Field Byte(s) Description 0xEE Start of Packet 0xFF Start of Packet Protocol Version Major Main class of the point cloud UDP packet structure Current value: 0x01 Protocol Version Minor Subclass of the point cloud UDP packet structure Current value: 0x04 Reserved -39-...
  • Page 44 Pandar128E3X_v4p5 3.1.2.2. Header Field Byte(s) Description Channel Num Number of laser channels Always 0x80 (128) Block Num Number of block(s) per packet Always 0x02 (2) First Block Return Reserved Dis Unit Always 0x04 (4 mm) Return Num Maximum number of returns from each channel 0x02 (2) Flags [7:4] is reserved.
  • Page 45 Pandar128E3X_v4p5 Field Byte(s) Description Block 1 For Block 1: Measurements made by each channel (starting from Channel 1) Refer to Each block in the body. Azimuth 2 For Block 2: Current reference angle of the azimuth Block 2 For Block 2: Measurements made by each channel (starting from Channel 1) CRC 1 CRC-32/MPEG-2 checksum of the Body.
  • Page 46 Pandar128E3X_v4p5 Each block in the body: 3 × 128 = 384 bytes Field Byte(s) Description Channel 1: Distance Definition of the Distance field. Channel 1: Reflectivity Range: 0 to 255 The mapping relation between this field and target reflectivity can be selected using either web control or PTC commands.
  • Page 47 Pandar128E3X_v4p5 Definition of the Distance field (when Up-Close Blockage Detection is ON) Distance Description ≥ 75 Distance Dis Unit Object distance = × ≥ 0.3 m Dis Unit : See Section 3.1.2.2 Header Distance No laser emission. Distance Return signal is received. Object distance: <...
  • Page 48 The Functional Safety part of a Point Cloud Data Packet updates only every 5 ms. Therefore, adjacent packets may contain identical •  Functional Safety data. The Lidar States and Fault Codes are described in the Safety Manual. Please contact Hesai technical support for more information. • Field Byte(s)
  • Page 49 Pandar128E3X_v4p5 Field Byte(s) Description Fault Code Fault Code sent by this data packet Reserved CRC 2 CRC-32/MPEG-2 checksum of Functional Safety part (from the Lidar State field to the Reserved field) 3.1.2.5. Tail Field Byte(s) Description Reserved Azimuth State [15:14] is the azimuth state of Block 1, and [13:12] the azimuth state of Block 2. Used for looking up the laser firing time, see Section B.4 Laser firing time of each channel •...
  • Page 50 Pandar128E3X_v4p5 Field Byte(s) Description Motor Speed Unit: RPM  Spin rate of the motor (RPM) = frame rate (Hz) × 60 Date & Time Coordinated Universal Time (UTC) of this data packet, accurate to the second. In big-endian format: Each byte Range (decimal) Year (current year minus 1900) ≥70...
  • Page 51 Pandar128E3X_v4p5 Field Byte(s) Description UDP Sequence Sequence number of this data packet Range: 0 to 0xFF FF FF FF IMU Temperature Temperature provided by the IMU (inertial measurement unit) Data type: signed integer Unit: 0.01℃ IMU Acceleration Unit Conversion factor of acceleration Data type: unsigned integer Current value: 244 (0x00F4) Unit of acceleration: 0.001mg ×...
  • Page 52 Pandar128E3X_v4p5 Field Byte(s) Description IMU X Axis Acceleration Acceleration of the X-axis, measured by the IMU Data type: signed integer Data type Signed integer Measurement ±8g range Unit of IMU Acceleration Unit See the field; currently 0.244mg. acceleration Example When this field is 5, X-axis acceleration = 5 × 0.244mg = 1.22mg. IMU Y Axis Acceleration Acceleration of the Y-axis IMU Z Axis Acceleration...

  • Page 53: Ethernet Tail

    Pandar128E3X_v4p5 3.1.2.6. Cyber Security (optional) Field Byte(s) Description Signature Point cloud signature Calculated using point cloud UDP data (from Pre-Header to Tail, appended with UDP Sequence) Algorithm: HMAC-SHA256  This field is added after specifying a Shared Secret Key and starting a session; see Section 4.9.3 Point cloud signature.

  • Page 54: Point Cloud Data Analysis

    Pandar128E3X_v4p5 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 12.165°, according to Appendix A Channel distribution data.
  • Page 55 Pandar128E3X_v4p5 ② = ⑤ × ⑥ ⑤ Firing time offset of the current firing channel Section B.4 Laser firing time of each channel. ⑥ Spin rate of the motor Motor Speed See the field in Section 3.1.2.5 Tail. The unit should be converted to °/s. 3.1.4.3.
  • Page 56 Pandar128E3X_v4p5 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 -52-...

  • Page 57: Gps Data Packet

    Pandar128E3X_v4p5 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 58: Gps Udp Data

    Pandar128E3X_v4p5 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) Reserved NMEA Data NMEA sentence containing date and time...
  • Page 59 Pandar128E3X_v4p5 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 60 Pandar128E3X_v4p5 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 61: Ethernet Tail

    Pandar128E3X_v4p5 3.2.3. Ethernet tail Field Byte(s) Description Frame check sequence -57-...

  • Page 62: Gps Time Data Analysis Method

    Pandar128E3X_v4p5 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) Characters Meaning Second...

  • Page 63: Web Control

    Pandar128E3X_v4p5 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 64: Home

    Pandar128E3X_v4p5 4.1. Home Status Spin Rate 600 RPM Unlock NMEA (GPRMC/GPGGA) Unlock Free Run Device Info  Device Log  Model Pandar128E3X P128XXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Pandar128E3X-A01 Software Version 1.45.127 Sensor Firmware Version 1.45.141 Controller Firmware Version 1.45.130  The above Part Number and version numbers may be different from the actual ones. Please refer to the web page of the lidar.
  • Page 65 • Format: [Model]-[Configuration] • Lidar units with earlier firmware versions can be upgraded to display P/N. The default P/N is the Product • Model (Pandar128E3X). Customer P/N Customer-Specified Part Number Default: Empty and not displayed. • Format: 1 to 20 characters, digits or hyphen (-).
  • Page 66 Pandar128E3X_v4p5 Refer to Section 5 Communication protocol. Settings to the Customer P/N:  are not changed by firmware upgrades/downgrades; • are not affected by the [ Reset All Settings ] button (on the Settings page). • -62-...

  • Page 67: Settings

    Pandar128E3X_v4p5 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 □ Ethernet Communication Mode Slave Settings Destination IP 255.255.255.255 Lidar Destination Port 2368 Spin Rate 600 RPM Return Mode Last and Strongest Sync Angle □...
  • Page 68 Pandar128E3X_v4p5 Up-Close Blockage Detection Reflectivity Mapping Linear Mapping Rotation Direction Clockwise Operational Mode Dynamic/Constant Standby Mode In Operation/Standby  Save  Buttons Reset All Settings Reset all the configurable parameters to factory defaults, including: Settings • Azimuth FOV • High resolution • Save Save and execute all the settings on this page.

  • Page 69: Network

    Pandar128E3X_v4p5 4.2.1. Network Parameter 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 70 Pandar128E3X_v4p5 Parameter Options Description Ethernet Slave (default) Only for automotive Ethernet (1000BASE-T1). Communication Mode Master Slave mode (default): The receiving host shall be in Master mode. • Connect the lidar with or without a connection box. • Master mode: Connect the lidar to a Master host, select "Master" and click the [ Save ] button at the •...

  • Page 71: Function

    Pandar128E3X_v4p5 4.2.2. Function Parameter Options Description Spin Rate 600 RPM (default) Spin rate of the motor 1200 RPM Motor Speed The accurate spin rate is shown in Point Cloud Data Packets (see the field Section 3.1.2.5 Tail). The set spin rate is also shown on the Home page (see Section 4.1 Home).
  • Page 72 Pandar128E3X_v4p5 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. •  Lidar azimuthal position is defined in Section 1.2 Basic structure.
  • Page 73 Pandar128E3X_v4p5 Parameter Options Description Interstitial Points OFF (default) To reduce the interstitial points in point cloud data. 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 74 Pandar128E3X_v4p5 Parameter Options Description Operational Mode Dynamic (default) After selecting Operational Mode, the Operational States will shift automatically Constant according to: ambient temperature • horizontal resolution mode (see Section 4.4 High resolution) • Operational Horizontal Operational States (in the order of priority) Mode Resolution Mode...

  • Page 75: Time Sync

    Pandar128E3X_v4p5 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 Parameter Options Description...
  • Page 76 Pandar128E3X_v4p5 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) Destination Port Default: 10110 Port used for sending GPS Data packets 4.2.3.2.
  • Page 77 Pandar128E3X_v4p5 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 (2 = 2 seconds) PTP logSyncInterval –7 to 3 Time interval between Sync messages Default: 1 Default: 1 (2 = 2 seconds)

  • Page 78: Azimuth Fov

    Pandar128E3X_v4p5 4.3. Azimuth FOV Azimuth FOV Setting For all channels ▼  Save  Buttons Save Save and execute all the settings on this page. 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.

  • Page 79: For All Channels

    Pandar128E3X_v4p5 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 80: High Resolution

    Pandar128E3X_v4p5 4.4. High resolution Configure on-the-fly the horizontal resolution of far-field measurement. Mode High Resolution ▼  Save  Buttons Save Save and execute all the settings on this page. Paramet Options Description Mode Standard (default) Mode Frame rate Horizontal resolution of far-field measurement High Resolution Standard 10 Hz...

  • Page 81: Operation Statistics

    Pandar128E3X_v4p5 4.5. 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 82: Monitor

    Pandar128E3X_v4p5 4.6. Monitor These electrical parameters (measured at the lidar's connector) are displayed in real time: Lidar Input Current • Lidar Input Voltage • Lidar Input Power • -78-...

  • Page 83: Upgrade

    Pandar128E3X_v4p5 4.7. 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 84: Log

    Pandar128E3X_v4p5 4.8. Log The process logs on this page are used for software troubleshooting. Parameters pandar_control Lidar's control program diag_ff Functional safety diagnosis program error Exceptions that may affect the lidar's normal operation warn Exceptions that do not affect the lidar's normal operation -80-...

  • Page 85: Security

    Pandar128E3X_v4p5 4.9. Security Cyber security (Master Switch): OFF Cyber security (master switch): ON Cyber Security (Master Switch) Cyber Security (Master Switch)     Login Control     Login Control     Authentication     Authentication     Current Password ________   Forgot Password?     Secure Connection     New Password ________     PTC Connection Non-TLS     Confirm New Password ________...
  • Page 86 Pandar128E3X_v4p5 As shown in the previous page, the available settings depend on the Cyber Security Master Switch: Cyber Security (Master Switch): OFF (default) Cyber Security (Master Switch): ON Login control http://192.168.1.201 redirects to the Home page. https://192.168.1.201 redirects to the Login page. Secure connection PTC and HTTP (cleartext communication) PTCS and HTTPS (encrypted communication;...

  • Page 87: Login Control

    To effectively implement login control, please change the default password and keep • your new password securely. Before returning a trial/loaner lidar or an RMA lidar to Hesai, please make sure to • change the password back to default. New password...

  • Page 88: Secure Connection

    The user and the lidar authenticate each other. Recommended for enhanced security. Click the [ Upload ] button to upload a user CA • certificate chain. Before returning a trial/loaner lidar or an RMA lidar to • Hesai, click the [ Remove ] button to remove the uploaded certificate. -84-...
  • Page 89 Pandar128E3X_v4p5 Parameter Options Description HTTP Connection HTTPS (fixed) HTTP connection mode After configuring the HTTPS environment (see Section 4.9.4 Configure HTTPS environment): The current URL switches from http://192.168.1.201 to https://192.168.1.201. • Communication becomes encrypted. • -85-...

  • Page 90: Point Cloud Signature

    Pandar128E3X_v4p5 4.9.3. Point cloud signature Parameter Options Description Shared secret key Used for negotiating a session key Default key: 12345678 • To avoid data breach risks, please change the default key and keep your new key • securely. Format: 8 to 32 digits or letters (case sensitive) -86-...

  • Page 91: Configure Https Environment

    Pandar128E3X_v4p5 4.9.4. Configure HTTPS environment Before using HTTPS, import the lidar CA certificate chain into your browser.  Without this step, HTTPS will not be activated, and a browser warning ("Not Secure") will appear when accessing web control. Follow the steps below to set up certificates in Chrome or Firefox (Windows 10). Go to the "Settings".
  • Page 92 Pandar128E3X_v4p5 Upload intermediate and root certificates ◦ Chrome: Click [ Intermediate Certificate Authorities ] tab > Click [ Import ] to upload the intermediate certificate. Click [ Trusted Root Certification Authorities ] tab > Click [ Import ] to upload the the root certificate. ◦ Firefox: Click [ Authorities ] tab > Click [ Import ] to upload the intermediate and root certificates, or upload the certificate chain file only. Figure 21.
  • Page 93 Pandar128E3X_v4p5 If a "Security Warning" or "Downloading Certificate" dialog box appears: ◦ Chrome: Click [ Yes ]. ◦ Firefox: Select "Trust this CA to identify websites" > Click [ OK ]. Figure 23. In Chrome Figure 24. In Firefox The newly-added CAs will appear in the list. Double-click to view more detailed information. -89-...
  • Page 94 Pandar128E3X_v4p5 Figure 25. In Chrome Figure 26. In Firefox -90-...

  • Page 95: Login

    Pandar128E3X_v4p5 4.10. Login When the Cyber Security Master Switch on the Security page is ON, login control will be activated and the current URL will redirect to the Login page. Parameter Options Description Username admin Password Default: 123456 To effectively implement login control, please change the default password (see Section 4.9.1 Login control) and keep your new password securely.

  • Page 96: Protocol

    Pandar128E3X_v4p5 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. With cybersecurity enabled, the encrypted HTTPS (HTTP over TLS) API and PTCS (PTC over TLS) API are also available: Data format: Same as the cleartext PTC/HTTP API.

  • Page 97: Maintenance

    Pandar128E3X_v4p5 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 98: Troubleshooting

    Pandar128E3X_v4p5 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 99 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 100 Pandar128E3X_v4p5 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 101 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 102: Appendix A: Channel Distribution Data

    Pandar128E3X_v4p5 Appendix A: Channel distribution data Notes to the table Channel number Counts from 1, top to bottom. Angular position The design values of each channel's horizontal (azimuth) angle offset and vertical (elevation) angle. The accurate values are recorded in this lidar unit's angle correction file. •...
  • Page 103 Pandar128E3X_v4p5 Min. detectable reflectivity at max. instrumented range Probability of Detection (PoD) = 70% High-resolution Channels 26 to 90 are high-res channels, characterized by 0.125° vertical resolution • enhanced horizontal resolution in High Resolution Mode (see Section 4.4 • High resolution) Max.
  • Page 104 Pandar128E3X_v4p5 Chann Angular position Instrumented range Near-field Max. range Far-field Min. detectable High-res? enabled? @10% reflectivity enhanced reflectivity at max. instrumented Horiz. offset Vertical range 3.257° 14.436° 0.3 m 100 m 100 m 100 m @ 10% 3.263° 13.535° 2.85 m 100 m 100 m 100 m @ 10%...
  • Page 105 Pandar128E3X_v4p5 –3.306° 5.487° 2.85 m 100 m (140 m) 100 m @ 3% –1.106° 4.996° 2.85 m 100 m (140 m) 100 m @ 3% –3.311° 4.501° 0.3 m 100 m (140 m) 100 m @ 3% –1.109° 4.007° 2.85 m 100 m (140 m) 100 m @ 3%...
  • Page 106 Pandar128E3X_v4p5 –7.738° 0.124° 2.85 m 200 m 200 m 200 m @ 10% –1.117° 0.000° 2.85 m 200 m 200 m 200 m @ 10% 7.743° –0.129° 2.85 m 200 m 200 m 200 m @ 10% 5.551° –0.254° 2.85 m 200 m 200 m 200 m @ 10%...
  • Page 107 Pandar128E3X_v4p5 1.113° –2.663° 2.85 m 200 m 200 m 200 m @ 10% –5.573° –2.789° 2.85 m 200 m 200 m 200 m @ 10% –7.775° –2.916° 2.85 m 200 m 200 m 200 m @ 10% –1.123° –3.044° 2.85 m 200 m 140 m 200 m @ 37%...
  • Page 108 Pandar128E3X_v4p5 3.360° –5.463° 2.85 m 200 m 140 m 200 m @ 37% –3.369° –5.589° 2.85 m 200 m 140 m 200 m @ 37% 1.118° –5.718° 2.85 m 200 m 140 m 200 m @ 37% –5.599° –5.843° 2.85 m 200 m 140 m 200 m @ 37%...
  • Page 109 Pandar128E3X_v4p5 1.135° –14.66° 2.85 m 100 m 50 m 100 m @ 120% 3.410° –15.154° 0.3 m 100 m 50 m 100 m @ 120% 1.137° –15.645° 2.85 m 100 m 50 m 100 m @ 120% 3.416° –16.135° 2.85 m 100 m 50 m 100 m @ 120%...

  • Page 110: Appendix B: Absolute Time Of Point Cloud Data

    Pandar128E3X_v4p5 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. NMEA sentence ($GPRMC or $GPGGA) can be selected using web control or PTC commands.

  • Page 111: Ptp As The Clock

    Pandar128E3X_v4p5 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. PPS status μs time Lidar behavior...
  • Page 112 Pandar128E3X_v4p5 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. PTP is a Plug &...

  • Page 113: Absolute Time Of Point Cloud Data Packets

    Pandar128E3X_v4p5 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 114: Laser Firing Time Of Each Channel

    Pandar128E3X_v4p5 B.4. Laser firing time of each channel Given the start time (see Section B.3 Start time of each block) of Block m as T(m), m ∈ {1, 2}, the laser firing time of Channel n: Block m is: t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 128}. Steps to look up firing time offsets Δt(n) Operational State Check the...
  • Page 115 Pandar128E3X_v4p5 In the ascending order of channel number Operational High Resolution Standard or Energy-Saving State Azimuth State Firing type Near Near Near Near Near Near Channel No. 4436 5201 4436 4436 5201 4436 28554 28554 1541 1541 2431 2781 2431 2781 4436 4436...
  • Page 116 Pandar128E3X_v4p5 4786 4086 32564 31864 6441 7206 6091 6441 7206 6091 4786 4086 32564 31864 2431 3196 2781 2431 3196 2781 2781 2431 30559 30209 6441 6091 34219 33869 4786 4086 4851 32564 31864 32629 4436 4436 4436 4436 10381 10731 12126 10381...
  • Page 117 Pandar128E3X_v4p5 14951 15301 14951 14601 43079 42379 14951 27056 15301 14951 14601 43079 27056 42379 19521 19871 19521 19171 19521 19521 17236 17586 17236 16886 17236 17236 12666 13016 12666 12316 12666 12666 21806 22156 21806 21456 21806 21806 8096 8446 8096 7746...
  • Page 118 Pandar128E3X_v4p5 10381 10731 10381 10031 26706 38509 37809 54484 14951 15301 14951 14601 43079 42379 17236 17586 17236 16886 17236 17236 17236 17586 17236 16886 17236 17236 8096 8446 8096 7746 36224 35524 19521 19871 19521 19171 19521 19521 19521 19871 19521 19171...
  • Page 119 Pandar128E3X_v4p5 24091 24441 24091 23741 52219 51519 17236 17586 17236 16886 17236 17236 21806 22156 21806 21456 21806 21806 8096 8446 8096 7746 36224 35524 12666 13016 12666 12316 12666 12666 21806 22156 21806 21456 21806 21806 14951 15301 14951 14601 43079 42379...
  • Page 120 Pandar128E3X_v4p5 4436 5681 4436 4436 5681 4436 2781 2431 30559 30209 28554 28554 4786 4086 5331 32564 31864 33109 6441 6091 6441 6091 6441 6091 34219 33869 6441 7686 6091 34219 35464 33869 4786 4086 32564 31864 4436 4436 5201 4436 4436 5201...
  • Page 121 Pandar128E3X_v4p5 6441 6091 6441 6091 1541 28554 28554 29319 Total firings -117-...
  • Page 122 Pandar128E3X_v4p5 In the ascending order of firing sequence (High Resolution state) Azimut Azimut Azimut Azimut h State h State h State h State Chann Δt(n) Firing Near- Chann Δt(n) Firing Near- Chann Δt(n) Firing Near- Chann Δt(n) Firing Near- el No. sequen field el No.
  • Page 123 Pandar128E3X_v4p5 3196 2781 2781 3196 3676 3546 3546 4086 4436 4026 4436 4086 4436 4786 4436 4086 4436 4786 4436 4086 4436 4786 4436 4086 4436 4786 4436 4086 4436 4786 4436 4086 4436 4786 4436 4086 4436 4786 4436 4851 5201 4786...
  • Page 124 Pandar128E3X_v4p5 8096 8446 8096 7746 8096 8446 8096 7746 8096 8446 8096 7746 8096 8446 8096 7746 8096 8446 8096 7746 8096 8446 8096 7746 8096 8446 8096 10031 10381 10731 10381 10031 10381 10731 10381 10031 10381 10731 10381 10031 10381 10731...
  • Page 125 Pandar128E3X_v4p5 12666 13016 12666 12316 14951 13016 14061 14601 14951 15301 14951 14601 14951 15301 14951 14601 14951 15301 14951 14601 14951 15301 14951 14601 14951 15301 14951 14601 14951 15301 14951 14601 14951 15301 14951 14601 17236 15301 14951 16886 17236 17586...
  • Page 126 Pandar128E3X_v4p5 19521 19871 19521 19171 19521 19871 19521 19171 19521 19871 19521 19171 21806 19871 19521 21456 21806 22156 21806 21456 21806 22156 21806 21456 21806 22156 21806 21456 21806 22156 21806 21456 21806 22156 21806 21456 21806 22156 21806 21456 21806 22156...
  • Page 127 Pandar128E3X_v4p5 In the ascending order of firing sequence (Standard and Energy-Saving states) Azimut Azimut Azimut Azimut h State h State h State h State Chann Δt(n) Firing Near- Chann Δt(n) Firing Near- Chann Δt(n) Firing Near- Chann Δt(n) Firing Near- el No.
  • Page 128 Pandar128E3X_v4p5 3196 6441 2781 6091 6441 19521 6856 17236 7206 19521 7336 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 19521 12666 21806 12666 19521 12666 21806...
  • Page 129 Pandar128E3X_v4p5 28554 32564 28554 31864 28554 32564 28554 31864 28554 32564 28554 31864 28554 32564 28554 31864 28554 32564 28554 31864 29319 32564 29319 32629 29799 32564 30209 33109 30559 34219 30209 33869 30559 34219 30209 33869 30559 34219 30209 33869 30559 34219...
  • Page 130 Pandar128E3X_v4p5 36224 52219 35524 51519 36224 52219 35524 51519 36224 38509 37809 38509 38509 38509 37809 38509 38509 38509 37809 38509 38509 38509 37809 38509 39904 38509 42379 38509 43079 52219 42379 52219 43079 52219 42379 52219 43079 52219 42379 52219 52219 55184...

  • Page 131: Appendix C: Nonlinear Reflectivity Mapping

    Pandar128E3X_v4p5 Appendix C: 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 132 Pandar128E3X_v4p5 Nonlinear mapping 1# 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 0.67...
  • Page 133 Pandar128E3X_v4p5 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 15.87 16.17...
  • Page 134 Pandar128E3X_v4p5 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 48.75 49.5...
  • Page 135 Pandar128E3X_v4p5 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 -131-...

  • Page 136: Nonlinear Mapping 2

    Pandar128E3X_v4p5 C.2. Nonlinear mapping 2# This mapping increases the resolution of low-reflectivity objects, especially lane markings. Figure 28. Nonlinear mapping 2# -132-...
  • Page 137 Pandar128E3X_v4p5 Nonlinear mapping 2# Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 2.89 4.08 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...
  • Page 138 Pandar128E3X_v4p5 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 53.05 54.18 55.3 56.43 57.56 58.69 59.82 60.95 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...
  • Page 139 Pandar128E3X_v4p5 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 143.34 144.47 145.6 146.73 147.86 148.98 150.11 151.24 152.37 153.5 154.63 155.76 156.88 158.01 159.14 160.27 161.4 162.53 163.66 164.79 165.91 167.04...
  • Page 140 Pandar128E3X_v4p5 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 233.63 234.76 235.89 237.02 238.15 239.28 240.41 241.53 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08 -136-...

  • Page 141: Appendix D: 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 142 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...

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