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Hesai PandarXT User Manual

32-channel mid-range mechanical lidar
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PandarXT
32-Channel Mid-Range
Mechanical Lidar User Manual
Classification: Public
Doc Version: X01-en-240930

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Summary of Contents for Hesai PandarXT

  • Page 1 PandarXT 32-Channel Mid-Range Mechanical Lidar User Manual Classification: Public Doc Version: X01-en-240930...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.1.2. Bottom connector lidar ...................... ...
  • Page 4 4.2.1. Network........................ ...

  • 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 Operating environment 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

    To learn about the supported functions of a product model, please contact Hesai technical support. • 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: ◦...

  • Page 14: Introduction

    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.   d: Distance c: Speed of light t: Travel time of the laser beam PandarXT | 10...

  • Page 15: Basic Structure

    Multiple pairs of laser emitters and receivers are attached to a motor that rotates 360° horizontally. Figure 1. Partial cross-sectional diagram 1.2.1. Side connector lidar Figure 2. Coordinate system (isometric view) Figure 3. Lidar azimuthal position (top view) PandarXT | 11...

  • Page 16: Bottom Connector Lidar

    Each laser channel has an intrinsic azimuth offset. All channels are selected to define the lidar's azimuthal position. • For example, when all channels pass the 90° position: the lidar is at the 90° position; • Azimuth • field in the corresponding data block in the Point Cloud Data Packet will be 90°. PandarXT | 12...

  • Page 17: Channel Distribution

    The optical center's exact position is shown as a yellow dot. • The origin's exact position is shown as a red dot. All measurements are relative to the origin. • Figure 6. Channel vertical distribution (unit: mm) Figure 7. Laser emitter/receiver position (unit: mm) PandarXT | 13...

  • Page 18: Bottom Connector Lidar

    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. • Export the file using PandarView 2 according to PandarView 2 user manual. • Contact sales representatives or technical support. • PandarXT | 14...

  • Page 19: Specifications

    Vertical FOV 31° (–16° to +15°) Vertical resolution 1° Frame rate 5 Hz, 10 Hz, 20 Hz Return mode Single Return: Last/Strongest/First Dual Return: Last and Strongest (default), Last and First, First and Strongest MECHANICAL/ELECTRICAL/OPERATIONAL Wavelength 905 nm PandarXT | 15...
  • Page 20   45.04 Mbps Clock source GPS/PTP (1588v2, 802.1AS, 802.1AS Automotive) PTP clock accuracy ⑤ ≤1 μs PTP clock drift ⑥ ≤1 μs/s  Specifications are subject to change. Please refer to the latest version of this manual. PandarXT | 16...
  • Page 21 • ⑤⑥ PTP clock accuracy and clock drift (typical value) Test condition: Room temperature ⑥ PTP clock drift Defined as the drift at a constant temperature after the lidar (slave clock) loses connection to the PTP master. PandarXT | 17...

  • Page 22: 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℃ ambient temperature; outdoors; Channels 9 to 24 PandarXT | 18...
  • Page 23 1.4. Specifications PandarXT | 19...

  • Page 24: Ranging Precision

    1.4. Specifications 1.4.2. Ranging precision Definition: The standard deviation of the measurements of a channel. Conditions: 30℃ ambient temperature; outdoors; Channels 9 to 24 PandarXT | 20...

  • Page 25: Setup

    The information in this section may be different for customized models. The mechanical drawings and data exclusively provided for  customized models shall prevail. 2.1. Mechanical installation 2.1.1. Side connector lidar Figure 10. Front view (unit: mm) PandarXT | 21...
  • Page 26 2.1. Mechanical installation Figure 11. Bottom view (unit: mm) Figure 12. Recommended installation PandarXT | 22...

  • Page 27: Bottom Connector Lidar

    2.1. Mechanical installation 2.1.2. Bottom connector lidar Figure 13. Front view (unit: mm) Figure 14. Bottom view (unit: mm) PandarXT | 23...
  • Page 28 2.1. Mechanical installation Figure 15. Recommended installation PandarXT | 24...

  • Page 29: Notes On Screw Installation

    Recommended screw torque 0.2 to 0.3 Nm 0.5 to 0.6 Nm 1 to 1.5 Nm 2 to 2.5 Nm 3.5 to 4 Nm Thread service life 25 times Each screwing counts as one time, so as each unscrewing. PandarXT | 25...

  • Page 30: Electrical Interface

    –1 to 1 V 28 AWG The blue wire is not used.  • For a GPS PPS signal, the recommended pulse width is over 1 ms, and the cycle is 1 s (rising edge to rising edge). • PandarXT | 26...

  • Page 31: Bending Of Cables

    NMEA signal ends before the PPS rising edge of the next second; t2 ≥ 100 ms. 2.2.2. Bending of cables Outer diameter (OD) = 5.0 ± 0.20 mm Minimum bend radius = 10 × OD PandarXT | 27...

  • Page 32: 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 33 Make sure the red dot on the cable's plug faces upward so that the alignment key matches the slot on the lidar side. Push the plug straight into the lidar's socket. Disconnection Turn off the power source. Hold the plug's shell and pull the plug straight from the socket. Figure 17. Connector use PandarXT | 29...

  • Page 34: Connection Box (Optional)

    2.3. Connection box (optional) 2.3. Connection box (optional) Users may connect the lidar with or without a connection box. Lemo part number: FGG.0T.309.CLAC50Z (male plug, on the connection box) Figure 18. Connection box (unit: mm) PandarXT | 30...

  • Page 35: Ports

    3.3 V to 12 V Rising edge ≤ 500 ns Recommended pulse width ≥ 1 ms Cycle: 1 s (from rising edge to rising edge) Output Power for the external GPS module Output Ground for the external GPS module PandarXT | 31...
  • Page 36 2.3. Connection box (optional) Pin # Direction Description Requirements Input Receiving serial data from the external GPS module RS232 level Output Ground for the external GPS module Reserved Figure 20. Connection box (back) PandarXT | 32...

  • Page 37: Connection

    2.3. Connection box (optional) 2.3.2. Connection 2.3.2.1. Side connector lidar Figure 21. Connection with GPS PandarXT | 33...
  • Page 38 2.3. Connection box (optional) Figure 22. Connection with PTP PandarXT | 34...
  • Page 39 2.3. Connection box (optional) 2.3.2.2. Bottom connector lidar Figure 23. Connection with GPS PandarXT | 35...
  • Page 40 2.3. Connection box (optional) Figure 24. Connection with PTP PandarXT | 36...

  • Page 41: Network Settings On The Receiving Host

    Therefore, X can be selected from 2 to 200 and from 202 to 254. Subnet mask 255.255.255.0 VLAN ID Range: 1 to 4094 Required only when VLAN tagging is used. Make sure the host computer and the lidar use the same VLAN ID. PandarXT | 37...

  • Page 42: In Windows

    "Control Panel" > "Network and Internet" > "Network and Sharing Center" > "Change Adapter Settings" Right-click on the "Ethernet" or "Ethernet X" which shows Ethernet connection (with no red cross at the bottom left of the icon) > Select "Properties". PandarXT | 38...
  • Page 43 Select "Use the following IP addresses" > Input the host computers's IP address and subnet mask. Ping command can be used to check the connection:  Press Windows key + R to open the "Run" box > Enter "cmd" > Click [ OK ]. ping ${source_ipv4} Enter > Press "Enter" > Check the output. PandarXT | 39...
  • Page 44 Click [ Configure ] > Under the "Advanced" tag, select "VLAN ID" from the "Property" list > Input a VLAN ID in the "Value" box > Click [ OK ].  If the "Property" list has no "VLAN ID", it is recommended to update the network adapter driver. PandarXT | 40...

  • Page 45: In Ubuntu

    ${ip_addr}/24 dev ${interface_name}.${vlan_id} ip addr show ${interface_name}.${vlan_id} ${interface_name} • Replace with the host computer's network interface name. ${vlan_id} • Replace with the host computer's VLAN ID. ${ip_addr} • Replace with the host computer's IP address. PandarXT | 41...
  • Page 46 2.4. Network settings on the receiving host To check the host computer's network interface name: Method 1 In the Settings--Network page, check the content in brackets after "Ethernet". PandarXT | 42...
  • Page 47 2.4. Network settings on the receiving host Method 2 ifconfig in the terminal. PandarXT | 43...

  • Page 48: Tools

    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 web_control: See Section 4, “Web...

  • Page 49: Data Structure

    Ethernet header: 42 bytes GPS UDP data: 512 bytes GPS Data Packet: 558 bytes Ethernet tail: 4 bytes   1. Network monitoring software (such as WireShark) usually does not display the Ethernet tail (4 bytes). Figure 25. Data structure PandarXT | 45...

  • Page 50: Point Cloud Data Packet

    Internet Protocol Protocol parameters UDP Port Number Source port (default: 10000) Destination port (default: 2368) UDP Length Eight bytes more than point cloud UDP data (see Figure 25, “Data structure”). UDP Checksum Checksum of the Ethernet header PandarXT | 46...

  • Page 51: Point Cloud Udp Data

    Start of Packet 0xFF Start of Packet Protocol Version Major Main class of the point cloud UDP packet structure Current value: 0x06 Protocol Version Minor Subclass of the point cloud UDP packet structure Current value: 0x01 Reserved PandarXT | 47...
  • Page 52 Number of block(s) per packet Fixed: 0x08 (8) First Block Return Reserved Dis Unit Fixed: 0x04 (4 mm) Return Num Maximum number of returns from each channel 0x02 (2) UDP Sequence [7:1] are reserved. Value [0] UDP sequence 1 — YES (fixed) 0 — NO PandarXT | 48...
  • Page 53 If there is only one return, then Block 1 and Block 2 store the same data. First and Strongest First return Strongest return If the first return is also the strongest, then Block 2 stores the second strongest return. PandarXT | 49...
  • Page 54 For Block 2: Measurements made by each channel (starting from Channel 1) … … … Block 8 For Block 8: Measurements made by each channel (starting from Channel 1) Each block in the body Field Byte(s) Description Azimuth Current reference azimuth of this block Unit: 0.01° PandarXT | 50...
  • Page 55 The mapping between this field and target  reflectivity can be selected using Web Control or PTC commands. Reserved Channel 2 Measurements of Channel 2 … … … Channel 32 Measurements of Channel 32 3.1.2.4. Tail Field Byte(s) Description Reserved PandarXT | 51...
  • Page 56 The absolute time of a Point Cloud Data Packet is defined in  cloud data. Timestamp The microsecond part of the Coordinated Universal Time (UTC) of this data packet. Unit: μs Range: 0 to 999 999 μs PandarXT | 52...

  • Page 57: Ethernet Tail

    Field Byte(s) Description Factory Information Fixed: 0x42 3.1.2.5. Additional information Field Byte(s) Description UDP Sequence Sequence number of this data packet Range: 0 to 0xFF FF FF FF 3.1.3. Ethernet tail Field Byte(s) Description Frame check sequence PandarXT | 53...

  • Page 58: Point Cloud Data Analysis

    Section 1.3, “Channel distribution”). • 0° is the horizontal direction. •  The upward direction is defined as positive (see Figure 6, “Channel vertical distribution (unit: mm)”). • Channel number counts from 1, from top to bottom. • PandarXT | 54...
  • Page 59 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 3.1.2.4, “Tail”. The unit should be converted to °/s. PandarXT | 55...
  • Page 60 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 PandarXT | 56...

  • Page 61: Gps Data Packet

    0x08, 0x00 Internet Protocol Protocol parameters UDP Port Number Source port (default: 10000) Destination port (default: 10110) UDP Length 8 bytes more than GPS UDP data; see Figure 25, “Data structure” UDP Checksum Checksum of the Ethernet header PandarXT | 57...

  • Page 62: Data

    GPS Mode  Users can select the NMEA sentence to be received (see Section 4.2.3, “Time sync”). Reserved 404 bytes of 0xDF GPS Positioning Status ASCII code, obtained from the NMEA sentence PPS Lock Flag 1 — Locked 0 — Unlocked Reserved PandarXT | 58...
  • Page 63 The lidar's GPS data interface accepts a variety of GPRMC formats, as long as: Field <01> (after the first comma separator) is the hour, minute, and second information. Field <09> (after the ninth comma separator) is the date information. For example, the following formats are both acceptable: $GPRMC,072242,A,3027.3680,N,11423.6975,E,000.0,316.7,160617,004.1,W*67 $GPRMC,065829.00,A,3121.86377,N,12114.68322,E,0.027,,#160617#,,,A*74 PandarXT | 59...
  • Page 64 … The lidar's GPS data interface accepts a variety of GPGGA formats, as long as: Field <01> (after the first comma separator) is the hour, minute, and second information. For example, the following formats are both acceptable: PandarXT | 60...
  • Page 65 3.2. GPS Data Packet $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 PandarXT | 61...

  • Page 66: Ethernet Tail

    3.2. GPS Data Packet 3.2.3. Ethernet tail Field Byte(s) Description Frame check sequence PandarXT | 62...

  • Page 67: Gps Time Data Analysis Method

    Meaning Year 0x30 0x32 '0', '2' Month 0x34 0x30 '4', '0' 0x37 0x30 '7', '0' Time Field Data (in ASCII) Characters Meaning Second 0x38 0x35 '8', '5' Minute 0x37 0x30 '7', '0' Hour 0x34 0x30 '4', '0' PandarXT | 63...

  • Page 68: Web Control

    Section 2.4, “Network settings on the receiving host”. Enter 192.168.1.201 in your web browser. Google Chrome and Mozilla Firefox are recommended.  • Firewall port exceptions: Port 9347 (PTC), Port 80 (HTTP), and Ports 319 and 320 (PTP 1588v2) • PandarXT | 64...

  • Page 69: Home

    Spin Rate Spin Rate of the motor (RPM) = frame rate (Hz) × 60 GPS pulse-per-second (PPS) status Lock: Lidar's internal clock is in sync with GPS PPS. • Unlock: Not in sync. • PandarXT | 65...
  • Page 70 Frozen: The lidar has lost connection to the PTP master and is attempting to recover it. Meanwhile, • lidar time will drift from the last synchronized time. When the time drift exceeds the specification, PTP status will change to Free Run. PandarXT | 66...

  • Page 71: Settings

    Spin Rate 600 RPM Return Mode Last and Strongest Sync Angle □ Trigger Method Angle Based Clock Source     GPS Mode GPGGA     GPS Destination Port 10110 Interstitial Points Filtering Reflectivity Mapping Linear Mapping Standby Mode In Operation/Standby  Save  PandarXT | 67...
  • Page 72 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. PandarXT | 68...

  • Page 73: Network

    When VLAN is enabled, PTP connection will be lost; when VLAN is disabled, • PTP connection will automatically recover. Destination IP Any except 0.0.0.0, 127.0.0.1, Communication mode Destination IP and the lidar's IPv4 address Broadcast (default) 255.255.255.255 Default: 255.255.255.255 Multicast User-defined Unicast Same as the PC's IPv4 address PandarXT | 69...

  • Page 74: Function

    Single Return: Return Mode Also shown in Point Cloud Data Packets (see the field in Section 3.1.2.4, “Tail”). Last • Strongest • First • Dual Return: Last and Strongest • Last and First • First and Strongest • PandarXT | 70...
  • Page 75 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. PandarXT | 71...
  • Page 76 Mapping is nonlinear. This increases the contrast in low-reflectivity areas (see Appendix D, Nonlinear reflectivity mapping). Standby Mode In Operation (default) In Standby mode, the motor stops running and lasers stop firing. Standby PandarXT | 72...

  • Page 77: Time Sync

    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 Clock Source GPS (default) External source of absolute time PandarXT | 73...
  • Page 78 PPS signal. Date & Time: the lidar's system time, accurate to the second. •  μs Timestamp: the μs part of the lidar's system time. • Destination Port Default: 10110 Port used for sending GPS Data packets PandarXT | 74...
  • Page 79 Time interval between Sync messages Default: 1 Default: 1 (2 = 2 seconds) PTP logMinDelayReqInterval –7 to 3 Minimum permitted mean time between Delay_Req messages Default: 0 Default: 0 (2 = 1 second) When using the 802.1AS or 802.1AS Automotive profile: PandarXT | 75...
  • Page 80 4.2. Settings Parameter Options Description Switch Type TSN (default) Type of the network switch Non-TSN Time Sensitive Network, using Peer-to-Peer delay mechanism Non-TSN Using End-to-End delay mechanism PandarXT | 76...

  • Page 81: Azimuth Fov

    If the Start Angle is larger than the End Angle, then the actual range is the union of [Start Angle, 360°) and [0°, End Angle). • For instance, when the angle range is set to be [270°, 90°), the actual azimuth FOV is [270°, 360°)∪[0°, 90°). PandarXT | 77...

  • Page 82: For All Channels

    Input multiple (≤ 5) sets of Start Angles and End Angles to form multiple continuous angle ranges. These ranges apply to all channels. Azimuth FOV Setting Multi-section FOV Multi-section FOV Start Angle End Angle Azimuth FOV 1 Azimuth FOV 2 Azimuth FOV 3 Azimuth FOV 4 Azimuth FOV 5  Save  PandarXT | 78...

  • Page 83: Operation Statistics

    38 h 20 min 40 to 60℃ 393 h 17 min 60 to 80℃ 109 h 50 min 80 to 100℃ 6 h 16 min 100 to 120℃ 1 h 44 min > 120℃ 0 h 0 min PandarXT | 79...

  • Page 84: Upgrade

    4.5. Upgrade 4.5. Upgrade Before upgrading, please contact Hesai technical support to obtain the .patch file. •  It is recommended to place a protective cover or other opaque material over the lidar's cover lens when upgrading. • The instructions for downgrading are the same as those for upgrading.

  • Page 85: Communication

    5. Communication protocol 5. Communication protocol HTTP API and Pandar TCP Commands (PTC) API can be used to communicate with Hesai lidars.  To acquire the API reference manuals, please contact Hesai technical support. PandarXT | 81...

  • Page 86: Maintenance

    Make sure the lidar is powered OFF. Choose an appropriate cleaning agent: ◦ For light stains, use room temperature water. ◦ For heavier stains, use a mild soap solution (no more than two tablespoons of soap per quart or liter of water). PandarXT | 82...
  • Page 87 For stubborn stains, cover the dirty area with the dampened sponge or cloth to soften the stains before wiping. Immediately after removing the stains, rinse the cover lens with clean water. Then, use a clean soft sponge or microfiber cloth to gently wipe away any remaining liquid (which may contain residual cleaning agents or contaminants). PandarXT | 83...

  • Page 88: Troubleshooting

    7. Troubleshooting 7. Troubleshooting If the following procedures cannot solve your problem, please contact Hesai technical support. Indicator light is off on the connection box. Make sure that the following conditions are met: The power adapter is properly connected and in good condition.
  • Page 89 The PC's firewall is disabled, or PandarView 2 is added to the firewall exceptions. • The latest PandarView 2 is installed (see Downloads page of Hesai's official website or contact Hesai technical support). • Afterward, power on the lidar again and check if the symptom persists.
  • Page 90 Afterward, check for packet loss. If no packet is lost yet the point cloud flashes, please follow these steps: Update PandarView 2 to the latest version (see Downloads page of Hesai's official website or contact Hesai technical support). Restart the PC.
  • Page 91 GPS Destination Port is correctly set; this can be confirmed using Web Control or PTC commands. • The GPS signals satisfy the electrical requirements in Section 2.2, “Electrical interface” Section 2.3, “Connection box (optional)”. • Afterward, power on the lidar again and check if the symptom persists. PandarXT | 87...

  • Page 92: Appendix A: Channel Distribution Data

    120 m 80 m @ 10% 0° 5° 120 m 80 m @ 10% 0° 4° 120 m 80 m @ 10% 0° 3° 120 m 80 m @ 10% 0° 2° 120 m 80 m @ 10% PandarXT | 88...
  • Page 93 120 m 50 m @ 10% 0° –13° 120 m 50 m @ 10% 0° –14° 120 m 50 m @ 10% 0° –15° 120 m 50 m @ 10% 0° –16° 120 m 50 m @ 10% PandarXT | 89...

  • Page 94: Appendix B: Absolute Time Of Point Cloud Data

    Date and time (accurate Lidar behavior to the second) Unlocked (Initial) 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. PandarXT | 90...

  • Page 95: Ptp As The Clock

    The lidar counts the absolute time using the internal 1 Hz signal. This absolute time will gradually drift from the actual GPS second. B.1.2. PTP as the clock source The lidar connects to a third-party PTP master to obtain PTP signal. PandarXT | 91...
  • Page 96 Point Cloud Data Packets strictly follow the PTP master device. Certain PTP master devices may have a specified offset from the lidar's time output. Please verify the configuration and calibration of your PTP master device. PandarXT | 92...

  • Page 97: Absolute Time Of Point Cloud Data Packets

    Block 8 + 5.632 Block N + 5.632 – 50 × (8 – N) Block 3 + 5.632 – 50 × 5 Block 2 + 5.632 – 50 × 6 Block 1 + 5.632 – 50 × 7 PandarXT | 93...

  • Page 98: Laser Firing Time Of Each Channel

    Block m is T(m), m ∈ {1, 2, …, 8}, the laser firing time of Channel n: Block m is t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 32} In each round of firing, the firing time offsets Δt(n) = 1.512 × (n – 1) + 0.368 Unit: μs PandarXT | 94...

  • Page 99: Appendix C: Power Supply Requirements

    = 36 V 1.5 m 0.39 V 0.19 V 0.13 V 0.52 V 0.25 V 0.17 V 1.42 V 0.64 V 0.42 V 10 m 3.55 V (lidar's input voltage < 9 V) 1.32 V 0.85 V PandarXT | 95...

  • Page 100: Avoid Overvoltage

    The lidar's input voltage should remain under 1 V for more than 50 ms before ramping up. • During the ramp-up, the input voltage should climb to 90% of its designed value in less than 500 ms. • Figure 27. Voltage requirements during a power-up PandarXT | 96...
  • Page 101 C.3. Power Up/Down 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. PandarXT | 97...

  • Page 102: Appendix D: Nonlinear Reflectivity Mapping

    Alternatively, users may choose the Nonlinear Mapping mode using Web Control or PTC commands. Figure 28. Nonlinear mapping Nonlinear mapping Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 2.89 4.08 PandarXT | 98...
  • Page 103 21.84 22.36 22.93 23.55 24.23 25.92 27.09 28.22 29.35 30.47 31.6 32.73 33.86 34.99 36.12 37.25 38.37 39.5 40.63 41.76 42.89 44.02 45.15 46.28 47.4 48.53 49.66 50.79 51.92 53.05 54.18 55.3 56.43 57.56 58.69 59.82 60.95 PandarXT | 99...
  • Page 104 109.48 110.61 111.74 112.87 115.12 116.25 117.38 118.51 119.64 120.77 121.9 123.02 124.15 125.28 126.41 127.54 128.67 129.8 130.93 132.05 133.18 134.31 135.44 136.57 137.7 138.83 139.95 141.08 142.21 143.34 144.47 145.6 146.73 147.86 148.98 150.11 151.24 PandarXT | 100...
  • Page 105 200.9 202.03 203.16 204.29 205.42 206.55 207.67 208.8 209.93 211.06 212.19 213.32 214.45 215.58 216.7 217.83 218.96 220.09 221.22 222.35 223.48 224.6 225.73 226.86 227.99 229.12 230.25 231.38 232.51 233.63 234.76 235.89 237.02 238.15 239.28 240.41 241.53 PandarXT | 101...
  • Page 106 Appendix D: Nonlinear reflectivity mapping 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 PandarXT | 102...

  • Page 107: 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 108 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 A, Haisu Culture Plaza, Shanghai, China...

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