Hesai PandarXT User Manual Download Page 48

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Parameter

Description

Spin Rate

Spin Rate of the motor (rpm) = frame rate (Hz) * 60

GPS

GPS (PPS) status

Lock

Lidar's internal clock is in sync with GPS PPS

Unlock

Not in sync

NMEA
(GPRMC/GPGGA)

NMEA status

Lock

After receiving a valid NMEA message

Unlock

Not receiving a valid NMEA message for over 2 s

PTP

PTP status

Free Run

No PTP master is selected.

Tracking

Attempting to sync with the selected PTP Master, but the absolute offset exceeds
the user-specified limit in Section 4.2 (Settings).

Locked

Absolute offset is within the user-specified limit.

Frozen (Holdover)

Attempting to recover the connection to the PTP master.

Summary of Contents for PandarXT

Page 1: ...www hesaitech com HESAI Wechat PandarXT 32 Channel Medium Range Mechanical LiDAR User Manual...

Page 2: ...Optional 25 2 4 Get Ready to Use 29 3 Data Structure 30 3 1 Point Cloud Data Packet 31 3 2 GPS Data Packet 38 4 Web Control 44 4 1 Home 45 4 2 Settings 47 4 3 Azimuth FOV 55 4 4 Operation Statistics 5...

Page 3: ...you are required to provide this user manual or the means to access this user manual to the intended users of your product s This lidar product is intended as a component of an end product It shall be...

Page 4: ...2 Legends Warnings instructions that must be followed to ensure safe and proper use of the product Notes additional information that may be helpful...

Page 5: ...3 Safety Notice Special Warnings Laser Safety Hot Surface Hot parts Burned fingers when handling the parts Wait one half hour after switching off before handling parts...

Page 6: ...agreed to in writing by Hesai Technology do NOT disassemble the product Operating Environment Radio Frequency Interference Before using the product make sure to read all the signs and notices on the...

Page 7: ...ake sure to avoid any ingress beyond that rating Operating Temperature Please check the product s user manual for its operating temperature refer to the Specifications section Make sure not to exceed...

Page 8: ...ly Installation and Operation Power Supply You are recommended to use only the cables and power adapters provided by Hesai Technology If you are to design configure or select the power supply system i...

Page 9: ...If the product enclosure is broken stop using it immediately and contact Hesai technical support The product contains high speed rotating parts To avoid potential injuries do NOT operate the product i...

Page 10: ...ftware Before using a custom version of firmware and software please thoroughly understand the differences in functions and in performance between this custom version and the standard version Make sur...

Page 11: ...uct s user manual refer to the About this Manual section Repair Unless expressly agreed to in writing by Hesai Technology do NOT by yourself or entrust any third party to disassemble repair modify or...

Page 12: ...ultrashort laser pulses onto the target object 2 The laser pulses are reflected after hitting the target object The returning beam is detected by an optical sensor 3 Distance to the object can be acc...

Page 13: ...axis is the axis of rotation The origin is shown as a red dot on the next page All measurements are relative to the origin Lidar azimuthal position is defined in Figure 1 4 Y axis corresponds to 0 Ea...

Page 14: ...cal angle offset The offsetted angles are recorded in this lidar unit s angle correction file which is provided when shipping the unit In case you need to obtain the file again Send this PTC command P...

Page 15: ...ons are subject to change Please refer to the latest version Continued on the next page MECHANICAL ELECTRICAL OPERATIONAL Wavelength 905 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 Dimens...

Page 16: ...es the average among all channels measured in doors at 3 7 15 25 m under room temperature and with target reflectivities between 5 and 65 Power Consumption typical value Test conditions room temperatu...

Page 17: ...30 50 70 90 Accuracy cm Target Distance m Accuracy 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 1 0 0 0 1 0 2 0 3 0 4 0 5 0 0 05 0 5 1 3 5 10 20 30 50 70 90 Accuracy cm Target Dist...

Page 18: ...tdoors channels 9 to 24 0 0 0 5 1 0 1 5 2 0 2 5 0 05 0 5 1 3 5 10 20 30 50 70 90 Precision cm Target Distance m Precision 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 0 0 0 5 1 0 1...

Page 19: ...17 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...

Page 20: ...18 Figure 2 2 Bottom View Unit mm...

Page 21: ...19 2 1 1 Recommended Installation Figure 2 3 Recommended Installation...

Page 22: ...fit area LOCTITE 263 Threadlocker is recommended To ensure curing in place wait for at least 12 hours before operating the lidar Screw Torque The base material of the threaded holes is aluminum alloy...

Page 23: ...21 2 2 Interfaces Lemo part number EEG 0T 309 CLN female socket on the lidar From the eye to the interface Figure 2 4 Lemo Connector Female Socket...

Page 24: ...GND RED 0 V 28 AWG 5 Ethernet TX YELLOW 1 to 1 V 28 AWG Notes For the GPS PPS signal pulse width is recommended to be over 1 ms and the cycle is 1 s rising edge to rising edge The blue wire is not use...

Page 25: ...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 figure above...

Page 26: ...ce open a connection by pulling on the cables or by twisting the connectors in any way Doing so can loosen the connectors shells or even damage the contacts In case a connector s shell is accidentally...

Page 27: ...25 2 3 Connection Box Optional Users may connect the lidar directly or using the connection box Lemo part number FGG 0T 309 CLAC50Z male plug on the connection box Figure 2 6 Connection Box Unit mm...

Page 28: ...Voltage standard RS232 Baud rate 9600 bps The GPS port pin numbers are 1 to 6 from left to right defined as follows Pin Direction Pin Description Requirements 1 Input PPS pulse per second signal for s...

Page 29: ...27 2 3 2 Connection Figure 2 9 Connection Box Connection with GPS...

Page 30: ...28 Figure 2 10 Connection Box Connection with PTP...

Page 31: ...l Ethernet port name Open the Network Sharing Center click on Ethernet In the Ethernet Status box click on Properties Double click on Internet Protocol Version 4 TCP IPv4 Configure the IP address to 1...

Page 32: ...ta Unless otherwise specified all the multi byte fields are unsigned values in little endian format Figure 3 1 Data Structure LiDAR Data Point Cloud Data Packet 1122 bytes Ethernet Header 42 bytes UDP...

Page 33: ...cast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 bytes 0x08 0x00 Internet Protocol 20 bytes Shown in Figure 3 2 UDP Port Number 4 bytes UDP source port 0x2710 re...

Page 34: ...bclass of the point cloud UDP packet structure Currently 0x01 Reserved 2 Header 6 bytes Header Field Bytes Description Laser Num 1 0x20 32 channels Block Num 1 0x08 8 blocks per packet First Block Ret...

Page 35: ...annel 32 Block size size of Azimuth 32 size of Channel X Each Block in the Body 130 bytes Field Bytes Description Azimuth 2 Current reference angle of the rotor Unit 0 01 Channel X 4 2 byte Distance D...

Page 36: ...turn If the last return is also the strongest then the even number block stores the second strongest return 0x3B Last return First return If there is only one return then the two blocks store the same...

Page 37: ...1900 70 Month 1 to 12 Day 1 to 31 Hour 0 to 23 Minute 0 to 59 Second 0 to 59 Timestamp 4 The s time part of the absolute time of this data packet defined in Appendix II Unit s Range 0 to 1000000 s 1 s...

Page 38: ...ve see Figure 1 5 Channel counts from 1 top to bottom Analyze the horizontal angle of a data point Y axis is the 0 position define clockwise in the top view as positive see Figure 1 4 Horizontal angle...

Page 39: ...a data point Actual distance in real world millimeters distance measurement Distance Unit Distance measurement Distance field of Channel 5 in Block 2 Distance Unit 4 mm Draw the data point in a polar...

Page 40: ...e actual date and time from NMEA messages GPRMC or GPGGA and stamp them into both Point Cloud Data Packets and GPS Data Packets Point Cloud Data Packets 6 byte Date Time year month day hour minute sec...

Page 41: ...roadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 0x08 0x00 Internet Protocol 20 Shown in the figure below UDP Port Number 4 UDP source port 0x2710 represents...

Page 42: ...00 NMEA sentence that contains date and time ASCII code valid till 2 bytes after the asterisk The lidar can receive either GPRMC or GPGGA see Section 4 2 Web Control Settings Reserved 388 388 bytes of...

Page 43: ...hex 0 for GPS being unlocked 09 UTC Date Date information Typically in ddmmyy day month year format The lidar s GPS data interface is compatible with a variety of GPRMC formats as long as 01 is the h...

Page 44: ...lid 1 GPS fix SPS 2 DGPS fix 3 PPS fix 6 estimated dead reckoning The lidar s GPS data interface is compatible with a variety of GPGGA formats as long as 01 is the hour minute and second information F...

Page 45: ...0x32 0 2 20 Month 0x34 0x30 4 0 04 Day 0x37 0x30 7 0 07 Time Field Data ASCII Code Characters Meaning Second 0x38 0x35 8 5 58 Minute 0x37 0x30 7 0 07 Hour 0x34 0x30 4 0 04 s Time 4 bytes in units of...

Page 46: ...device info and upgrading To access web control 1 Connect the lidar to your PC using an Ethernet cable 2 Set the IP address according to Section 2 4 Get Ready to Use 3 Enter this URL into your web br...

Page 47: ...Model PandarXT S N XTXXXXXXXXXXXXXX MAC Address XX XX XX XX XX XX Software Version 0 1 16 Sensor Firmware Version 1 2 14 Controller Firmware Version 1 1 10 Button Description Device Log Click to down...

Page 48: ...ter receiving a valid NMEA message Unlock Not receiving a valid NMEA message for over 2 s PTP PTP status Free Run No PTP master is selected Tracking Attempting to sync with the selected PTP Master but...

Page 49: ...5 255 255 0 IPv4 Gateway 192 168 1 1 VLAN 0 Settings Destination IP 255 255 255 255 Lidar Destination Port 2368 Spin Rate 600 rpm Return Mode Last and Strongest Sync Angle 0 Trigger Method Angle Based...

Page 50: ...ndby Mode In Operation Standby Save Button Description Reset All Settings Reset all the configurable parameters to factory defaults including Section 4 2 Settings Section 4 3 Azimuth FOV Save Save and...

Page 51: ...AN is disabled PTP connection will automatically recover Warnings If the lidar s VLAN ID differs from the receiving host s users will lose access to web control To minimize such risks the VLAN ID is z...

Page 52: ...ion 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 Lidar Structure Definition of full...

Page 53: ...a Packets linearly represents target reflectivity 0 255 Nonlinear 1 and 2 Increases the contrast in low reflectivity regions see Appendix IV Nonlinear Reflectivity Mapping Interstitial Points Filterin...

Page 54: ...0 Clock Source PTP Profile 1588v2 Time Offset for Lidar Lock 1 PTP Network Transport UDP IP PTP Domain Number 0 PTP logAnnounceInterval 1 PTP logSyncInterval 1 PTP logMinDelayReqInterval 0 Parameter O...

Page 55: ...ction 4 1 Home The complete logic is shown in the table PPS locked PPS unlocked NMEA locked Update Date Time using the current NMEA sentence Update the s Timestamp using the current PPS signal When Re...

Page 56: ...ault L2 Netword transport protocol UDP IP Available only for 1588v2 profile L2 Available for all profiles Domain Number 0 to 127 integer Default 0 Domain attribute of the local clock When using the 15...

Page 57: ...figuration mode of the azimuth FOV The lidar outputs valid data only within the specified azimuth FOV ranges Note The angles in degrees are accurate to the first decimal place If the Start Angle is la...

Page 58: ...56 4 3 1 For all channels Input a Start Angle and an End Angle to form a continuous angle range This range applies to all channels...

Page 59: ...57 4 3 2 Multi section FOV Input multiple 5 sets of Start Angles and End Angles to form multiple continuous angle ranges These ranges apply to all channels...

Page 60: ...se operating parameters are shown in real time Start Up Counts 510 Internal Temperature 32 10 Total Operation Time 559 h 43 min Internal Temperature Operation Time 40 0 h 1 min 40 to 20 0 h 46 min 100...

Page 61: ...de Click the Upload button select an upgrade file and confirm your choice in the pop up window When the upgrade is complete the lidar will automatically reboot and the past versions will be logged in...

Page 62: ...60 5 Communication Protocol To receive Hesai lidar s PTC Pandar TCP Commands and HTTP API Protocols please contact Hesai technical support...

Page 63: ...re using a lint free wipe If the wipe is stained use another 1 Thoroughly wash your hands or wear a pair of powder free PVC gloves 2 To remove dust blow dry air onto the cover lens or use a piece of l...

Page 64: ...made in Step 3 and gently wipe the cover lens back and forth along its curved surface 5 Should another cleaning agent be applied to remove certain stains repeat Steps 3 and 4 6 Spray the cover lens wi...

Page 65: ...tage and current satisfy the requirements in Section 2 3 Connection Box Power on again to check if the symptom persists Motor is not running Verify that power adapter is properly connected and in good...

Page 66: ...again to check if the symptom persists Can receive data on Wireshark but not on PandarView Verify that Lidar Destination Port is correctly set on the Settings page of web control PC s firewall is dis...

Page 67: ...page of web control Lidar s internal temperature is between 20 and 95 on the Operation Statistics page of web control Ethernet is not overloaded no switch is connected into the network The data transm...

Page 68: ...b control Afterwards check for packet loss If no packet is missing and yet the point cloud flashes please update PandarView to the latest version see the Download page of Hesai s official website or c...

Page 69: ...stribution To Be Continued Channel in UDP Data Horizontal Angle Offset Azimuth Vertical Angle Elevation Instrument Range in meters Range in meters with Reflectivity 01 Top 0 15 120 50 10 02 0 14 120 5...

Page 70: ...in meters Range in meters with Reflectivity 17 0 1 120 80 10 18 0 2 120 80 10 19 0 3 120 80 10 20 0 4 120 80 10 21 0 5 120 80 10 22 0 6 120 80 10 23 0 7 120 80 10 24 0 8 120 80 10 25 0 9 120 50 10 26...

Page 71: ...lute Time of Point Cloud Data Source of Absolute Time The lidar retrieves the current absolute time by connecting to an external clock source GPS PTP Users can select the clock source see Section 4 2...

Page 72: ...s Date Time accurate to the second Lidar behavior Unlocked Virtual Starts counting from a virtual UTC time such as 2000 01 01 00 00 00 using the lidar s internal 1 Hz signal Locked Synchronized At eac...

Page 73: ...l is not aligned with the GPS second Locked Synchronized The rising edge of the lidar s internal 1 Hz signal is aligned with the rising edge of the PPS signal i e the start of each GPS second Lost Dri...

Page 74: ...0 00 00 using the lidar s internal 1 Hz signal Tracking or Locked Synchronized Extract the actual date and time from the PTP Master s messages Frozen Drifting Starts counting from the last synchronize...

Page 75: ...s the time when the lidar sends the command that triggers a round of firing that will be stored in the last block This absolute time is output to the Date Time field and the Timestamp field in Point C...

Page 76: ...ck 2 t0 5 632 50 6 Block 1 t0 5 632 50 7 Dual Return Mode Block Start Time s Block 8 Block 7 t0 5 632 Block 6 Block 5 t0 5 632 50 1 Block 4 Block 3 t0 5 632 50 2 Block 2 Block 1 t0 5 632 50 3 Firing T...

Page 77: ...les the estimated cable resistance is r 0 3L unit Define the source voltage as U_in V The cable voltage drop of the lidar operating at 10 Hz under room temperature 23 5 C can be estimated Udrop V Uin...

Page 78: ...nsumption will also be higher than the typical value in Section 1 4 Specifications In the above or similar conditions we recommend providing at least 30 W of input power to the lidar Power Up Down Dur...

Page 79: ...Data Packets linearly represents target reflectivity from 0 to 255 Alternatively users may choose the Nonlinear Mapping mode see Chapter 4 Web Control Settings The nonlinear relationship is detailed...

Page 80: ...77 24 14 14 44 20 87 64 39 5 5 6 45 25 14 43 45 21 34 65 40 63 6 7 07 26 14 72 46 21 84 66 41 76 7 7 64 27 15 47 22 36 67 42 89 8 8 16 28 15 28 48 22 93 68 44 02 9 8 66 29 15 57 49 23 55 69 45 15 10...

Page 81: ...9 8 85 63 21 105 85 78 125 108 35 145 130 93 86 64 33 106 86 91 126 109 48 146 132 05 87 65 46 107 88 04 127 110 61 147 133 18 88 66 59 108 89 16 128 111 74 148 134 31 89 67 72 109 90 29 129 112 87 14...

Page 82: ...85 176 07 205 198 65 225 221 22 166 154 63 186 177 2 206 199 77 226 222 35 167 155 76 187 178 33 207 200 9 227 223 48 168 156 88 188 179 46 208 202 03 228 224 6 169 158 01 189 180 59 209 203 16 229 22...

Page 83: ...pping Continued Reflectivity Index 0 255 Reflectivity 240 238 15 241 239 28 242 240 41 243 241 53 244 242 66 245 243 79 246 244 92 247 246 05 248 247 18 249 248 31 250 249 44 251 250 56 252 251 69 253...

Page 84: ...otify any person of such revision or changes 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 offici...

Page 85: ...Technology Co Ltd Phone 86 400 805 1233 Website www hesaitech com Address Building L2 Hongqiao World Centre Shanghai China Business Email info hesaitech com Service Email service hesaitech com HESAI W...

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