Hesai Pandar128, User Manual

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For Pandar128 LiDARs with Lemo connectors, a trigger port is added to output external trigger signals.
Figure 2.9 Connecting Box (Back)
Port # Port Name Description
d Trigger Port Connector (socket): Molex, LLC 5023520300
Recommended wire connector (plug): Molex, LLC 5023510300
Voltage: 0 V to 3.3 V
Signal type: pulse
Max. current output level: 12 mA
Pin Description for the trigger port:
Pin # Direction Pin Description
1 Input GND, to ground the external trigger signal
2 Output-Encoder Trigger signal: outputs one pulse when the LiDAR rotates 0.05°
Pulse width: 8.31 μs @ 600 RPM, 4.17 μs @ 1200 RPM
3 Output-Index Trigger signal: outputs one pulse when Channel 42 passes the LiDAR's 180° position (see Figure 1.4)
Pulse width: 2.87 μs @ 600 RPM, 1.44 μs @ 1200 RPM