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Hesai XT32M2X User Manual

32-channel mid-range mechanical lidar
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XT32M2X
32-Channel Mid-Range
Mechanical Lidar User Manual
Classification: Public
Doc Version: X03-en-240220

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Summary of Contents for Hesai XT32M2X

  • Page 1 XT32M2X 32-Channel Mid-Range Mechanical Lidar User Manual Classification: Public Doc Version: X03-en-240220...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.3.3. Connector use ....................... .  ...
  • 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 XT32M2X 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

    XT32M2X 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

    XT32M2X 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: Channel Distribution

    XT32M2X 1.3. Channel distribution The vertical resolution is 1.3° across the FOV, as illustrated in Figure 4. Channel vertical distribution (unit: mm). Figure 4. Channel vertical distribution (unit: mm) Figure 5. Laser emitter/receiver position (unit: mm) The optical center's exact position is shown as a yellow dot.

  • Page 17: Specifications

    XT32M2X 1.4. Specifications SENSOR Scanning method Mechanical rotation Number of channels Instrumented range 0.5 to 300 m (all channels) Ranging capability ① 80 m @10% reflectivity (all channels) Ranging accuracy ② ±1 cm Ranging precision ③ 0.5 cm (1σ, typical)
  • Page 18 XT32M2X Ingress protection IP6K7 Dimensions Height: 75.0 mm Top/bottom: Φ89.0/93.0 mm Rated voltage range DC 9 to 36 V Power consumption ④ 10 W Operating temperature –20°C to 60°C Storage temperature –40°C to 85°C Weight 0.49 kg DATA I/O Data transmission...
  • Page 19 XT32M2X Notes to specifications ① Ranging capability (typical value) Measured under 100 klux ambient illuminance with the probability of detection (PoD) > 90%. ②③ Ranging accuracy and precision Defined as the average of all channels. • May vary with range, temperature, and target reflectivity.

  • Page 20: Ranging Accuracy

    XT32M2X 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; all channels...
  • Page 21 XT32M2X -17-...

  • Page 22: Ranging Precision

    XT32M2X 1.4.2. Ranging precision Definition: The standard deviation of the measurements of a channel. Conditions: 30°C ambient temperature; outdoors; all channels -18-...

  • Page 23: Setup

    XT32M2X 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 24: Mechanical Installation

    XT32M2X 2.1. Mechanical installation 2.2. Exterior Dimensions Figure 6. Front view (unit: mm) -20-...
  • Page 25 XT32M2X Figure 7. Bottom view (unit: mm) -21-...

  • Page 26: Recommended Installation

    XT32M2X 2.2.1. Recommended Installation Figure 8. Recommended installation -22-...

  • Page 27: Notes On Screw Installation

    XT32M2X 2.2.2. 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 28: Electrical Interface

    XT32M2X 2.3. Electrical interface Lemo part number: EEG.0T.309.CLN (female socket, on the lidar) Figure 9. Lemo connector (unit: mm) 2.3.1. Pin description Pin # Signal Wire Color Voltage Wire Gauge Pin # Signal Wire Color Voltage Wire Gauge GPS PPS Black 3.3 to 12 V...

  • Page 29: Bending Of Cables

    XT32M2X 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)

  • Page 30: 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 31 XT32M2X 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.

  • Page 32: Connection Box (Optional)

    XT32M2X 2.4. 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 11. Connection box (unit: mm) -28-...

  • Page 33: Ports

    XT32M2X 2.4.1. Ports Figure 12. 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...
  • Page 34 XT32M2X Pin # Direction Signal Descriptions Input Receiving serial data from the external GPS module RS232 level Output Ground for the external GPS module Reserved Figure 13. Connection box (back) -30-...

  • Page 35: Connection

    XT32M2X 2.4.2. Connection Figure 14. Connection with GPS -31-...
  • Page 36 XT32M2X Figure 15. Connection with PTP -32-...

  • Page 37: 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 38 XT32M2X 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 -34-...

  • Page 39: Data Structure

    XT32M2X 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: 866 bytes Point cloud UDP data: 820 bytes Body: 780 bytes...

  • Page 40: Point Cloud Data Packet

    XT32M2X 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 41: Point Cloud Udp Data

    XT32M2X 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: 0x06 Protocol Version Minor Subclass of the point cloud UDP packet structure...
  • Page 42 XT32M2X 3.1.2.2. Header Field Byte(s) Description Channel Num Number of laser channels Fixed: 0x20 (32) Block Num Number of block(s) per packet Fixed: 0x06 (6) First Block Return Reserved Dis Unit Fixed: 0x05 (5 mm) Return Num Maximum number of returns from each channel...
  • Page 43 XT32M2X 3.1.2.3. Body Return mode In Dual or Triple Return mode, the measurements of each round of firing are stored in two or three adjacent blocks respectively. Azimuth • fields of these adjacent blocks are the same. The sequences of returns are shown in the table below.
  • Page 44 XT32M2X Body 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. Block 2 For Block 2: Measurements made by each channel (starting from Channel 1) …...
  • Page 45 XT32M2X Field Byte(s) Description Channel 2 Measurements of Channel 2 … … … Channel 32 Measurements of Channel 32 3.1.2.4. Tail Field Byte(s) Description Reserved Return Mode Return mode. Motor Speed Unit: RPM  Spin rate of the motor (RPM) = frame rate (Hz) × 60...
  • Page 46 XT32M2X Field Byte(s) Description 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 Month 1 to 12 1 to 31 Hour...

  • Page 47: Ethernet Tail

    XT32M2X 3.1.3. Ethernet tail Field Byte(s) Description Frame check sequence -43-...

  • Page 48: Point Cloud Data Analysis

    XT32M2X 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 14.3°, according to Appendix A Channel distribution data.
  • Page 49 XT32M2X 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...
  • Page 50 XT32M2X 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...

  • Page 51: Gps Data Packet

    XT32M2X 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 52: Gps Udp Data

    XT32M2X 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 53 XT32M2X 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 54 XT32M2X 3.2.2.2. GNRMC data format Same as Section 3.2.2.1 GPRMC data format. 3.2.2.3. 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 …...
  • Page 55 XT32M2X $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47 $GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,-6.27,M,08,AAAA*60 -51-...

  • Page 56: Ethernet Tail

    XT32M2X 3.2.3. Ethernet tail Field Byte(s) Description Frame check sequence -52-...

  • Page 57: Gps Time Data Analysis Method

    XT32M2X 3.2.4. GPS time data analysis method Figure 17. 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 58: Web Control

    XT32M2X 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 2.5 Network settings on the receiving host.

  • Page 59: Home

    XT32M2X 4.1. Home Status Spin Rate 600 RPM Unlock NMEA (GPRMC/GPGGA/GNRMC) Unlock Free Run Device Info  Device Log  Model XT32M2X XT32M2X-B01 XT32XXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 2.1.18 Sensor Firmware Version 2.1.7 Controller Firmware Version 2.0.18 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 60 XT32M2X NMEA (GPRMC/GPGGA/GNRMC) 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- •...

  • Page 61: Settings

    XT32M2X 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 First, Last, and Strongest Sync Angle □...
  • Page 62 XT32M2X 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 [ Save ].

  • Page 63: Network

    XT32M2X 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 64: Function

    XT32M2X 4.2.2. Function Parameters Options Description Spin Rate 300 RPM Spin rate of the motor 600 RPM (default) Motor Speed The accurate spin rate is shown in Point Cloud Data Packets (see the field 1200 RPM Section 3.1.2.4 Tail). The set spin rate is also shown on the Home page (see Section 4.1...
  • Page 65 XT32M2X Parameters Options Description Trigger Method Angle-Based (default) The way laser firings are triggered Time-Based Angle-based Lasers fire every 0.09° at 5 Hz, 0.18° at 10 Hz, or 0.36° at 20 Hz. Time-based Lasers fire every 50 μs. Interstitial Points OFF (default) To reduce the interstitial points in point cloud data.

  • Page 66: Time Sync

    XT32M2X 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 67 XT32M2X 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 data.) GNRMC GPGGA 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 68 XT32M2X 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 69: Azimuth Fov

    XT32M2X 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 70: For All Channels

    XT32M2X 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...

  • Page 71: Operation Statistics

    XT32M2X 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 72: Upgrade

    XT32M2X 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 73: Protocol

    XT32M2X 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. Pandar TCP Commands (PTC) API can be used to communicate with Hesai lidars.

  • Page 74: Maintenance

    XT32M2X 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 75: Troubleshooting

    XT32M2X 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 76 Wireshark but or PTC commands. not by 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 77 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 another network.
  • Page 78 XT32M2X Symptoms Points to check 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 79: Appendix A: Channel Distribution Data

    XT32M2X Appendix A: Channel distribution data Channel number counts from 1, from top to bottom. • The vertical angles (elevation) in the table are design values. • The accurate values are in this lidar's angle correction file (see Angle correction file Section 3.1.4 Point cloud data analysis...
  • Page 80 XT32M2X Vertical Angle Channel number Horizontal Angle Offset (Azimuth) (Elevation) 0° -1.3° 0° -2.6° 0° -3.9° 0° -5.2° 0° -6.5° 0° -7.8° 0° -9.1° 0° -10.4° 0° -11.7° 0° -13.0° 0° -14.3° 0° -15.6° 0° -16.9° 0° -18.2° 0° -19.5°...

  • Page 81: Appendix B: Absolute Time Of Point Cloud Data

    XT32M2X 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.

  • Page 82: Ptp As The Clock

    XT32M2X 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.
  • Page 83 XT32M2X PTP status Date and time (accurate Lidar behavior to the microsecond) Free run Virtual Since the lidar has not been locked before, it starts counting from a virtual UTC (such as 2000–01–01 00:00:00) using the lidar's internal 1 Hz signal.

  • Page 84: Absolute Time Of Point Cloud Data Packets

    XT32M2X 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 85: Laser Firing Time Of Each Channel

    XT32M2X Triple return mode Block Start time (μs) Blocks 6, 5, & 4 + 5.632 Blocks 3, 2, & 1 + 5.632 – 50 × 1 B.4. Laser firing time of each channel Given the start time (see Section B.3 Start time of each block) of Block m is T(m), m ∈...

  • Page 86: Appendix C: Power Supply Requirements

    XT32M2X 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.

  • Page 87: Avoid Overvoltage

    XT32M2X 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.
  • Page 88 XT32M2X 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. -84-...

  • Page 89: Appendix D: Nonlinear Reflectivity Mapping

    XT32M2X 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 90 XT32M2X 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...
  • Page 91 XT32M2X 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...
  • Page 92 XT32M2X 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...
  • Page 93 XT32M2X 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 -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...

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