FCC ID: 2ASO2PANDAR40P Rangefinder

www.hesaitech.com 402-en-1902A3 Pandar40P 40-Channel Mechanical LiDAR User Manual HESAI Wechat Safety Notice PLEASE READ AND FOLLOW ALL INSTRUCTIONS CAREFULLY AND CONSULT ALL RELEVANT NATIONAL AND INTERNATIONAL SAFETY REGULATIONS FOR YOUR APPLICATION. Caution To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device. The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the device. For repairs and maintenance inquiries, please contact an authorized Hesai Technology service provider. Laser Safety Notice Laser Class 1 IEC 60825-1:2014 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No.50, dated June 24, 2007 This device satisfies the requirements of NEVER LOOK INTO THE TRANSMITTING LASER THROUGH A MAGNIFYING DEVICE (MICROSCOPE, EYE LOUPE, MAGNIFYING GLASS, ETC.) Safety Precautions In all circumstances, if you suspect that the device malfunctions or is damaged, stop using it immediately to avoid potential hazards and injuries. Contact an authorized Hesai Technology service provider for more information on device disposal. Handling This device contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing, and squeezing may cause damage to the device. Enclosure This device contains high-speed rotating parts. To avoid potential injuries, DO NOT operate the device if the enclosure is loose or damaged. Repair DO NOT open and repair the device without direct guidance from Hesai Technology. Disassembling the LiDAR may cause degraded performance, failure in water resistance, or potential injuries to the operator. Power Supply Use only the cables and power adapters provided by Hesai Technology. Only the power adapters that meet the devices power requirements and the applicable safety standards can be used. Using damaged cables/adapters or supplying power in a humid environment can result in fire, electric shock, personal injuries, product damage, or property loss. Prolonged Exposure to Hot Surface Prolonged exposure to the devices hot surface may cause discomfort or injury. If the device has been powered and operating for a long time, avoid skin contact with the device and its power adapter. Vibration 3.21 Grms short-term vibration within 5 Hz to 2000 Hz for 4 hours. Radio Frequency Interference Please observe the signs and notices on the device that prohibit or restrict the use of electronic devices. Although the device is designed, tested, and manufactured to comply with the regulations on RF radiation, the radiation from the device may still influence other electronic devices. Medical Device Interference Some components in the device can emit electromagnetic fields, which may interfere with medical devices such as cochlear implants, heart pacemakers and defibrillators. Consult your physician and medical device manufacturers for specific information regarding your medical device and whether you need to keep a safe distance from the LiDAR. If you suspect that the LiDAR is interfering with your medical device, stop using the LiDAR immediately. Explosive Atmosphere and Other Air Conditions Do not use the device in any area where potentially explosive atmospheres are present, such as high concentrations of flammable chemicals, vapors or particulates (including particles, dust, and metal powder) in the air. Exposing the device to high concentrations of industrial chemicals, including liquefied gases that are easily vaporized (such as helium), can damage or weaken the devices function. Please observe all the signs and instructions on the device. Light Interference Some precision optical instruments may be interfered by the laser light emitted from the device. Eye Safety Strong vibration may cause damage to the device and should be avoided. The device can withstand a sudden impact of 50 G for 11 milliseconds, or Although the device meets Class 1 eye safety standards, operators should still avoid looking directly at the LiDAR for maximum self-protection. 6.1 Packet Structure ..................................................................................................... 40 6.2 Command Description ......................................................................................... 41 7 Sensor Maintenance ........................................................................................... 49 8 Troubleshooting .................................................................................................. 50 Appendix I Channel Distribution ........................................................................ 52 Appendix II Absolute Time and Laser Firing Time ......................................... 54 Appendix III PTP Protocol .................................................................................... 57 Appendix IV Phoenix Contact ............................................................................. 59 Appendix V Nonlinear Reflectivity Mapping ................................................... 60 Appendix VI Certification Info ............................................................................ 64 Appendix VII Support and Contact .................................................................... 65 Contents 1 Introduction ............................................................................................................ 1 1.1 Operating Principle ................................................................................................. 1 1.2 LiDAR Structure ........................................................................................................ 2 1.3 Channel Distribution ............................................................................................... 3 1.4 Specifications ............................................................................................................ 4 2 Setup ......................................................................................................................... 5 2.1 Mechanical Installation ........................................................................................... 5 2.2 Interfaces .................................................................................................................... 8 2.3 Connection Box (Optional) ................................................................................... 9 2.4 Get Ready to Use ................................................................................................... 12 3 Data Structure ...................................................................................................... 13 3.1 Point Cloud Data Packet ...................................................................................... 14 3.2 GPS Data Packet ..................................................................................................... 17 4 Web Control ......................................................................................................... 23 4.1 Home ......................................................................................................................... 24 4.2 Settings ..................................................................................................................... 25 4.3 Azimuth FOV ........................................................................................................... 28 4.4 Operation Statistics ............................................................................................... 31 4.5 Upgrade .................................................................................................................... 32 5 PandarView ........................................................................................................... 33 5.1 Installation ................................................................................................................ 33 5.2 Use ............................................................................................................................. 34 5.3 Features .................................................................................................................... 36 6 Communication Protocol .................................................................................. 40 1 Introduction This manual describes the specifications, installation, and data output format of Pandar40P. This manual is under constant revision. Please contact Hesai for the latest version. 1.1 Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the object. 2) Diffuse reflection of the laser occurs upon contact with the target object. The beams are detected by the optical sensor. 3) Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor. Figure 1.1 ToF Formula 1 1.2 LiDAR Structure 40 pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric View) Figure 1.4 Rotation Direction (Top View) The LiDARs coordinate system is shown above. The Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.6 on the next page. After geometric transforms, all the measurements are relative to the origin. Each laser channel has an intrinsic horizontal angle offset. When Channel 12 passes the zero degree position (y-axis) illustrated in Figure 1.4, the azimuth data in the corresponding UDP data block will be 0. 2 1.3 Channel Distribution The vertical resolution is 0.33 between Channel 6 and Channel 30 1 between Channel 5 and Channel 6, Channel 30 and Channel 38 not evenly distributed in the remaining channels, as detailed in Appendix I Figure 1.5 Channel Vertical Distribution Figure 1.6 Laser Firing Position 3 1.4 Specifications SENSOR Scanning Method Mechanical Rotation Channel Range Range Accuracy 40 0.3 to 200 m (at 10% reflectivity) 5 cm (0.3 to 1 m) 2 cm (1 to 200 m) FOV (Horizontal) 360 Resolution (Horizontal) 0.2 (10 Hz), 0.4 (20 Hz) FOV (Vertical) 40 (-25 to +15) Resolution (Vertical) 0.33 (-6 to +2);

1 (+2 to +3, -14 to -6);

2 (+3 to +5);

3 (+5 to +11);

4 (+11 to +15);

5 (-19 to -14);

6 (-25 to -19) Frame Rate 10 Hz, 20 Hz Returns Single and Dual Returns

(Strongest, Last) MECHANICAL/ELECTRICAL/OPERATIONAL Wavelength Laser Class 905 nm Class 1 Eye Safe Ingress Protection IP6K7 Dimensions Height: 116.7 mm Top/Bottom Diameter: 116.00 / 115.00 mm Operating Voltage DC 9 to 48 V Power Consumption 18 W Operating Temperature

-20 to 65 Certifications Weight DATA I/O RoHS, REACH, WEEE CE, FCC, IC, EAC, KCC 1.52 kg Data Transmission UDP/IP Ethernet (100 Mbps) Data Outputs Distance, Azimuth Angle, Intensity Data Points Generated Single Return Mode: 720,000 points per second Dual Return Mode: 1,440,000 points per second Clock Source PTP Clock Accuracy PTP Clock Drift GPS / PTP 1 s 1 s/s NOTE Specifications are subject to change without notice. NOTE Range accuracy as the average range error across all channels may vary with range, temperature and target reflectivity. 4 2 Setup 2.1 Mechanical Installation Figure 2.1 Isometric View Figure 2.2 Bottom View 5 Quick Installation Figure 2.3 Diagram of Quick Installation 6 Stable Installation Figure 2.4 Diagram of Stable Installation 7 2.2 Interfaces Lemo Contact is the default communication connector. (Another option is the Phoenix Contact, detailed in Appendix IV.) Lemo part number: FGG.2T.316.CLAC75Z (male, on the LiDAR) Pin #

1 ~ 4 5 6 7 8 9 10 11 12 13 14 15 16 Function

Ethernet RX-

Ethernet RX+

Ethernet TX-

Ethernet TX+

GPS Serial Data GPS PPS Color

BLUE BLUE/WHITE ORANGE ORANGE/WHITE WHITE YELLOW P12V P12V Ground (Return) Ground (Return)

RED GRAY BLACK GRAY/WHITE PURPLE PURPLE/WHITE Figure 2.5 Lemo Connector (Male) Table 2.1 Pin Description of Lemo Connector Voltage

-1 V to 1 V

-1 V to 1 V

-1 V to 1 V

-1 V to 1 V

-13 V to +13 V TTL level 3.3 V/5 V Pulse width: 1 ms or longer is recommended Cycle: 1 s (from rising edge to rising edge) 12 V 12 V 0 0

The cable length from the LiDAR exit to the tip of the connector is 0.3 m. From the eye to the interface 8 2.3 Connection Box (Optional) Users may connect the LiDAR directly or using the connection box. The connection box comes equipped with a power port, a GPS port, and a standard Ethernet port. The cable length between the connector and the connection box is 1.7 m by default. Lemo part number: PHG.2T.316.CLLC75Z (female, on the connection box) Figure 2.6 Connection Box 9 2.3.1 Connection Box Interfaces Port # Port Name a b Standard Ethernet Port Power Port c GPS Port Figure 2.7 Connection Box Table 2.2 Connection Box Interfaces Description RJ45, 100 Mbps Ethernet Use DC-005 DC power adapter Input voltage ranges from 9 V to 48 V. Power consumption is 18 W Connector type: JST SM06B-SRSS-TB Recommended connector for the external GPS module: JST SHR-06V-S-B Voltage standard: RS232 Baud rate: 9600 bps The GPS port pin numbers are 1 to 6 from left to right, defined as follows:

Table 2.3 GPS Pin Description Pin #

1 Direction Input Pin Description PPS (pulse-per-second) signal for synchronization 2 3 4 5 6 Output Output Input Output Output Power for the external GPS module Ground for the external GPS module Receiving serial data from the external GPS module Ground for the external GPS module Transmitting serial data to the external GPS module Requirements TTL level 3.3 V/5 V Pulse width: 1 ms or longer is recommended Cycle: 1 s (from rising edge to rising edge) 5 V

RS232 level

RS232 level 10 2.3.2 Connection NOTE Refer to Appendix III when PTP protocol is used. Figure 2.8 LiDAR Connection When Using the Connecting Box 11 2.4 Get Ready to Use The LiDAR does not have a power switch. It starts operating once connected to power and the Ethernet. To receive data on your PC, set the PCs IP address to 192.168.1.100 and subnet mask to 255.255.255.0 For Ubuntu-16.04:

Use the ifconfig command in the terminal:

~$ sudo ifconfig enp0s20f0u2 192.168.1.100

(replace enp0s20f0u2 with the local network port name) For Windows:

1) Open the Network Sharing Center, click on Ethernet 2) In the Ethernet Status interface, click on Properties 3) Double-click on Internet Protocol Version 4 (TCP/IPv4) 4) Configure the IP address to 192.168.1.100 and subnet mask to 255.255.255.0 To record and display point cloud data, see Chapter 5 PandarView To set parameters, check device info, or upgrade firmware, see Chapter 4 Web Control The SDK (Software Development Kits) download links can be found at www.hesaitech.com/en/download 12 3 Data Structure 100 Mbps Ethernet UDP/IP is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets. Each data packet consists of an Ethernet header and UDP data. The UDP sequence feature is OFF by default. When UDP sequence is ON, the Additional Information in the UDP data changes from 22 bytes to 26 bytes. Figure 3.1 Data Structure with UDP Sequence OFF 13 3.1 Point Cloud Data Packet 3.1.1 Ethernet Header Each LiDAR has a unique MAC address. The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form. Table 3.1 Point Cloud Data Packet Ethernet Header Ethernet Header: 42 bytes Ethernet II MAC 12 bytes Ethernet Data Packet Type Internet Protocol UDP Port Number 2 bytes 20 bytes 4 bytes UDP Length 2 bytes UDP Checksum 2 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) 0x08, 0x00 Shown in the figure below UDP source port (0x2710, representing 10000) Destination port (0x0940, representing 2368) 0x04F6 when UDP sequence is OFF, representing 1270 bytes (8 bytes more than the size of the Point Cloud UDP Data, shown in Figure 3.1) 0x04FA when UDP sequence is ON, representing 1274 bytes

Figure 3.2 Point Cloud Ethernet Header Internet Protocol 14 3.1.2 UDP Data All the multi-byte values are unsigned and in little endian format. Ranging Data Block 2 0xFFEE Azimuth 2 Channel 1 Channel 2 Channel 40 Table 3.2 Point Could UDP Data Ranging Data Ranging Data: 1240 bytes (10 blocks) Block 3 0xFFEE Azimuth 3 Channel 1 Channel 2 Channel 40 Table 3.3 Point Cloud UDP Data - Block Definition Each block in the Ranging Data: 124 bytes Block 10 0xFFEE Azimuth 10 Channel 1 Channel 2 Channel 40 Block 1 0xFFEE Azimuth 1 Channel 1 Channel 2 Channel 40 0xFFEE Azimuth 2 bytes Header, meaningless, 0xFF first 2 bytes Current reference angle of the rotor Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8]

Azimuth Angle = [Azimuth_H, Azimuth_L] / 100 = Azimuth / 100 2-byte distance data Channel XX 3 bytes Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8]

Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4 Maximum Distance Value = (2 ^ 16 1) * 4 mm = 262.14 m Reflectivity, in percentage (0 to 255%) 1-byte reflectivity data NOTE Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks: the odd number block is the last return, and the even number block is the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block. The azimuth changes every two blocks. 15 Additional Information Reserved 5 bytes High Temperature Shutdown Flag Table 3.4 Point Cloud UDP Data Additional Information Additional Information: 22/26 bytes when UDP sequence is OFF/ON

0x01 for high temperature; 0x00 for normal operation When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut 1 byte down after 60 s. The flag remains 0x01 during the 60 s and the shutdown period When the system is no longer in high temperature status, the shutdown flag will be reset to 0x00 and the system will automatically return to normal operation Reserved Motor Speed GPS Timestamp Return Mode Information Factory Information UTC UDP Sequence 2 bytes 2 bytes 4 bytes 1 byte 1 byte 6 bytes 4 bytes

speed_2_bytes[15:0] = speed (RPM) Packing time of this data packet, in units of 1 s Range: 0 to 1000000 s (1 s) 0x37 for Strongest Return mode, 0x38 for Last Return mode, and 0x39 for Dual Return mode 0x42 (or 0x43) UTC time in decimal: year, month, date, hour, minute, second Added only when UDP sequence is ON Label the sequence number of Point Cloud UDP packets, 1 to 0xFF FF FF FF in little endian format Example of UDP Data Analysis in Point Cloud Data Packets Take Pandar40Ps Channel 5 in Block 3 of the UDP Data as an example:

1) Vertical angle of Channel 5 is 3.00, according to Appendix I Channel Distribution 2) Horizontal angle is the current reference angle of the rotor (Azimuth of Block 3) plus the horizontal angle offset (-1.042, according to Appendix I). Define clockwise in the top view as the horizontal angles positive direction 3) The 2-byte distance data in the UDP Data Packet, multiplied by 4 mm, is the actual distance in real world millimeters After determining the horizontal angle, vertical angle, and distance of a data point, this point can be drawn in a polar or rectangular coordinate system. The real-time point cloud data is drawn by analyzing every point in the UDP data. 16 3.2 GPS Data Packet GPS Data Packets are triggered every second. All the multi-byte values are unsigned and in little endian format. Before NMEA messages are available from the external GPS module Each rising edge of the LiDARs internal 1 Hz signal triggers a GPS Data Packet. The time and date in the GPS Data Packets are unreal, starting from 00 01 01 00 00 00 (year, month, day, hour, minute, second) and increasing with the internal 1 Hz signal. Once the LiDAR receives the PPS (pulse-per-second) signal and NMEA messages The internal 1 Hz signal will be locked to the PPS. Each rising edge still triggers a GPS Data Packet. Meanwhile, the LiDAR will extract the actual UTC time and date from NMEA messages ($GPRMC or $GPGGA), and stamp them into both Point Cloud Data Packets and GPS Data Packets. GPS Data Packets: 6-byte Date (year, month, day) and 6-byte Time (second, minute, hour) in ASCII The GPS module sends first the PPS signal and then the NMEA message. At the rising edge of the PPS pulse, the corresponding NMEA message is not yet available. Therefore, the LiDAR extracts UTC information from the previous NMEA message and automatically adds 1 full second. When GPS signal is lost The LiDAR will still trigger GPS Data Packets by the rising edge of the internal 1 Hz signal. However, the GPS time in the packets will be counted by the internal 1 Hz signal and will drift from the actual GPS time. Point Cloud Data Packets: 6-byte UTC Time (year, month, day, hour, minute, second) in decimal 17 3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form. Ethernet II MAC 12 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Table 3.5 GPS Data Packet Ethernet Header Ethernet Header: 42 bytes Ethernet Data Packet Type Internet Protocol UDP Port Number Source: (xx:xx:xx:xx:xx:xx) 0x08, 0x00 2 bytes 20 bytes Shown in the figure below 4 bytes UDP Length UDP Checksum 2 bytes 2 bytes UDP source port (0x2710, represents 10000) Destination port (0x277E, represents 10110) 0x208, representing 520 bytes (8 bytes more than the size of the GPS UDP Data, shown in Figure 3.1)

Figure 3.3 GPS Ethernet Header Internet Protocol 18 3.2.2 UDP Data GPS time data 18 bytes GPRMC/GPGGA data 84 bytes reserved GPS positioning status 1 byte 404 bytes Table 3.6 GPS Data Packet UDP Data GPS UDP data: 512 bytes 2 bytes 6 bytes 6 bytes 4 bytes 0xFFEE, 0xFF first Year, month, and day (2 bytes each, lower byte first) in ASCII Second, minute, and hour (2 bytes each, lower byte first) in ASCII In units of s (lower byte first) Header Date Time s Time ASCII code, valid till 2 bytes after *

NMEA sentence that contains the UTC time information Users can select either GPRMC or GPGGA in the Settings page of web control, as shown in Section 4.2 404 bytes of 0xDF ASCII code, obtained from $GPRMC or $GPGGA When $GPRMC is selected:

A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked When $GPGGA is selected:

0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 6 = estimated (dead reckoning) flag of PPS lock reserved 1 byte 4 bytes 1 locked 0 unlocked

19 GPRMC Data Format

$GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field #

<01>

Field UTC Time

<02>

Location Status

<09>

UTC Date Description Hour, minute, and second Can be in hhmmss (hour, minute, second) format A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked Date information Can be in ddmmyy (day, month, year) format The LiDARs GPS data interface is compatible with a variety of GPRMC formats, as long as:

<01> is the hour, minute, and second information

<09> is the date information. For example, the following two 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 20 GPGGA Data Format

$GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field #

<01>

Field UTC Time

<06>

GPS Fix Quality Description Hour, minute, and second Can be in hhmmss (hour, minute, second) format 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 6 = estimated (dead reckoning) The LiDARs GPS data interface is compatible with a variety of GPGGA formats, as long as:

<01> is the hour, minute, and second information For example, the following two formats are both acceptable:

$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 21 Example of UDP Data Analysis in GPS Data Packets Figure 3.4 GPS Data Packet UDP Data (Example) Date Field Year Month Day

(UTC) Time Data (ASCII Code) 0x39 0x31 0x32 0x30 0x36 0x32 Characters

'9', '1'

'2', '0'

'6', '2'

Field Second Minute Hour Data (ASCII Code) 0x33 0x35 0x34 0x35 0x31 0x31 Characters

'3', '5'

'4', '5'

'1', '1'

Meaning 19 02 26 Meaning 53 54 11 s Time 4 bytes, in units of s, using the same clock source as the GPS Timestamp in Point Cloud Data Packets Reset to 0 at the rising edge of each PPS signal 22 4 Web Control Web control is used for setting parameters, checking 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 browser: 192.168.1.201/index.html NOTE Use Google Chrome or Firefox instead of IE. Turn off VPN. 23 4.1 Home Spin Rate of the motor (revs per minute) = frame rate (Hz) * 60 GPS (PPS) Status Lock Unlock LiDARs internal clock is in sync with the GPS Not in sync NMEA (GPRMC/GPGGA) Status Lock Unlock After receiving a valid NMEA message Not receiving a valid NMEA message No PTP master is selected; only the LiDARs clock is used Slave is trying to sync with the selected PTP Master, but the offset is more than 1 s Offset between the Slave and the Master is below 1 s LiDAR has lost connection to the PTP master and is attempting to recover it. Meanwhile, LiDAR starts drifting from the previous clock; when drifting out of specifications, it goes back to the Free Run mode. PTP Status Free Run Tracking Locked Frozen

(Holdover) 24 Figure 4.1 Home Page of Web Control 4.2 Settings 1. Control IP VLAN Tagging can be used when the receiving host also supports VLAN function. Check the VLAN checkbox and input a VLAN ID (range:

1~4094) for the LiDAR unit. Set the VLAN ID of the receiving host to be the same. 2. Destination IP Mode Broadcast (default) Multicast Unicast 3. LiDAR Functions Spin Rate Return Mode UDP Sequence Destination IP 255.255.255.255 239.0.0.0~239.255.255.255 Same as the PCs IP address 600 rpm / 1200 rpm Last / Strongest / Dual Return OFF / ON #1 / ON #2 OFF by default. When UDP Sequence is ON, UDP packets are labeled with a sequence number. See Section 3.1 for changes in data structure. ON #1: UDP sequence increments even though no UDP packet is generated outside the FOV specified in Section 4.3. ON #2: UDP sequence increments only when UDP packets are generated. Figure 4.2 Settings Page of Web Control

(continued on the next page) 25

(continued) Sync Angle Noise Filtering Reflectivity Mapping Trigger Method Standby Mode 0~360 degrees By default, the LiDARs zero-degree position

(defined in Section 1.2) is not in sync with PPS. If syncing is needed, check the check box and input a sync angle. Noise points mitigation in rain and fog Linear / Nonlinear Mapping By default, the 1-byte reflectivity data in the Point Cloud Data Packet linearly represents target reflectivity from 0 to 255%. Users can alternatively choose Nonlinear Mapping to increase the contrast in the low-

reflectivity region. See Appendix V Nonlinear Reflectivity Mapping. Angle-Based / Time-Based In the angle-based trigger mode, lasers fire every 0.2 deg at 10 Hz or 0.4 deg at 20 Hz. In the time-based mode, lasers fire every 55.56 us. Whether to stop the motor from running and lasers from firing 4. Reset All Settings By clicking the Reset All Settings button on the top-right corner, all configurable parameters in the Settings page and the Azimuth FOV page will be reset to their default values. The default values are shown on Figure 4.2 and Figure 4.5. 26 Figure 4.2 Settings Page of Web Control 5. Clock Source and PTP Parameters Clock Source GPS / PTP When GPS is selected as the clock source:

GPS Mode GPRMC / GPGGA When PTP is selected as the clock source:

In the PTP mode, LiDARs do not output GPS Data Packets, as detailed in Appendix III PTP Protocol. Format of the data received from the external GPS module. Both the NMEA sentence and the GPS positioning status are put into the GPS Data Packet. See Section 3.2.2 for details. PTP Domain Number PTP Network Transport PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval Integer from 0 to 127 UDP/IP (default) or L2

-2 to 3 log seconds

-7 to 3 log seconds

-7 to 3 log seconds Domain attribute of the local clock UDP/IP follows the PTPv2 standard defined in IEEE 1588-2008 Time interval between Announce messages (default: 1) Time interval between Sync messages (default: 1) Minimum permitted mean time between Delay_Req messages (default: 0) Figure 4.3 Settings Page of Web Control PTP Parameters 27 4.3 Azimuth FOV For Azimuth FOV Setting, users can select one of the three modes. 4.3.1 For all channels Figure 4.4 Azimuth FOV Page of Web Control A continuous angle range, specified by a start angle and an end angle, will be applied to all the channels. Outside the specified angle range, there will be no laser firing or data generated. NOTE Click Save to apply your settings. Figure 4.5 Azimuth FOV for All Channels 28 4.3.2 For each channel Users can configure one continuous angle range for each channel. Outside the specified range for each channel, there will be no laser firing or data generated in that channel. By default, the status button for each channel is green, indicating that angle range configuration is active. To deactivate the angle range configuration for one channel, click the corresponding button to make it gray. Thus the angle range for this channel becomes [0360]. Click the Enable/Disable All button to activate/deactivate the angle range configuration for all channels. NOTE Click Save to apply your settings. Figure 4.6 Azimuth FOV for Each Channel 29 4.3.3 Multi-section FOV Users can configure up to ten continuous angle ranges (i.e. sections) for each channel. By default, the status button for each channel is green, indicating that multi-section configuration is active. To deactivate the multi-section configuration for one channel, click the corresponding button to make it gray. Thus the angle range for this channel becomes [0360]. Click the Enable/Disable All button to activate/deactivate the angle range configuration for all channels. Figure 4.7 Multi-Section Azimuth FOV 30 4.4 Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed. 31 Figure 4.8 Operation Statistics Page of Web Control 4.5 Upgrade Click the Upload button and select an upgrade file (provided by Hesai). Reboot the LiDAR when the upgrade is complete. Below shows the software and firmware versions described in this manual. NOTE A software reboot is triggered by clicking the Restart button on the top right corner. Afterwards, the start-up counts in the Operation Statistics page increments by 1. Figure 4.9 Firmware Upgrade Page of Web Control 32 5 PandarView PandarView is a software that records and displays the point cloud data from Hesai LiDARs, available in 64-bit Windows 7/8/10 and Ubuntu-16.04. 5.1 Installation Copy the installation files from the USB disk included in the LiDARs protective case, or download these files from Hesais official website:

www.hesaitech.com/en/download NOTE Separate Python installation is required only for older PandarView versions. System Installation Files Windows PandarView_Windows_V1.6.9.msi python-2.7.13.msi Ubuntu-16.04 PandarView_Installer_V1.6.9.tar.gz Installation Steps When upgrading PandarView to a newer version, please uninstall the current version Double click and install python Use the default settings in the setup wizard, including install for all users Double click and install PandarView_Windows using the default settings Enter the following command in the terminal:

sudo apt-get install qt4-default libboost-all-dev Unzip PandarView_Installer.tar.gz and run PandarView_Installer.bin This manual describes PandarView 1.6.9. Users can check the software version from About in the menu bar. Figure 5.1 Menu and Buttons (PandarView 1.6.9) 33 5.2 Use Set the PCs IP address according to Section 2.4 Use. Check Live Data Click on and select your LiDAR model to begin receiving data over Ethernet. Record a PCAP File to pop up the Choose Output File window. Click on Click on Save to begin recording a PCAP file. Click on again to stop recording. Open a PCAP File Click on file to open. to pop up the Choose Open File window. Select a PCAP Import a Correction File Each LiDAR comes with a correction file (.CSV) in the provided USB disk. When a PCAP file is open, click on File in the menu bar and Import Correction File. Figure 5.2 Choose Output File Figure 5.3 File Menu 34 Play a PCAP File Button Description

Jump to the beginning of the file While paused, jump to the previous frame While playing, rewind. May click again to adjust the rewind speed (2x, 3x, 1/2x, 1/4x, and 1x) After loading a point cloud file, click to play the file While playing, click to pause While paused, jump to the next frame. While playing, forward. May click again to adjust the forward speed (2x, 3x, 1/2x, 1/4x, and 1x) Jump to the end of the file Save a single frame to .CSV (the XYZ coordinates as the first three columns) While playing, this Record button will be gray and unclickable While playing, click to loop playback. Otherwise the player will stop at the end of the file Save multiple frames to .PCAP Save multiple frames to .CSV (the XYZ coordinates as the last three columns) Specify the start and end frames Drag this progress bar or enter a frame number to jump to a specific frame 35 5.3 Features Viewpoint Selection 3D Projection and Distance Measurement Users can select from the right view, front view, and top view. Both perspective projection (default) and orthographic projection are supported. The distance measurement ruler is available only under orthographic projection. After clicking on

, drag your mouse while holding the Ctrl key to make a measurement in units of meters. Click on again to quit. Mouse Shortcuts Distance Reference Circles to show/hide the 12 distance reference circles in gray. The actual Click on distances are marked below. To change the color and line width of these circles, click on Tools in the menu bar and open Grid Properties. Slide the scroll wheel up/down to magnify/minimize Drag while holding the left button to adjust the point of view Drag while holding the scroll wheel to pan NOTE The bottom-left coordinate axes show the current point of view 36 Return Mode UDP Port Users can select from Block 1 Return (i.e. Last Return), Block 2 Return (i.e. Strongest Return), and Dual Return. Enter the UDP port number, and click Set to apply it. Channel Selection to show/hide point cloud data from the selected laser channels. Click on Check/Uncheck the boxes on the left to show/hide each channel. Check the Enable/Disable all option at the bottom of the table to show/hide all channels. 37 Point Selection and Data Table Click on and drag the mouse over the point cloud to highlight an area of points. Click on to view the data of the highlighted points, as shown below. Some of the data fields are defined below:

Field points azimuth azimuth_calib Description The XYZ coordinates of each point Rotors current reference angle Azimuth + horizontal angle offset again and click on any place outside the selected area. To cancel the selection, click on 38 Color Schemes. Click on to show the color legend at the lower right corner. Click on to open or close the Color Editor. The default color scheme is intensity based. Users can choose from other colors schemes based on azimuth, azimuth_calib, distance, elevation, laser_id, or timestamp. 39 6 Communication Protocol To ensure real-time communication, Hesais TCP protocol uses binary format and has disabled Nagles algorithm. 6.1 Packet Structure A client can send command messages to the server (LiDAR). Each command message includes a fixed 8-byte header and a variable command-specific payload. The header describes the command type and payload length. Table 6.1 Command Message Sent from Client to LiDAR Type 0x47 0x74 Cmd Return Code Payload Length Length 1 byte 1 byte 1 byte 1 byte 4 bytes Payload Indicated in Payload Length Field Description Fixed content Fixed content Command code. See Section 6.2 Command Description Useless Data length for the command 0x00 no payload Additional data for the command The server (LiDAR) outputs a feedback message for every command it receives. Table 6.2 Feedback Message from LiDAR to Client Type 0x47 0x74 Cmd Return Code Data Length Length 1 byte 1 byte 1 byte 1 byte 4 bytes Payload Indicated in Payload Length Field Description Fixed content Fixed content Command code Return code from server Data length for the command 0x00 no payload Additional data for the command 40 6.2 Command Description Table 6.3 List of Commands Command PTC_COMMAND_GET_LIDAR_CALIBRATION PTC_COMMAND_PTP_DIAGNOSTICS PTC_COMMAND_GET_INVENTORY_INFO PTC_COMMAND_GET_CONFIG_INFO PTC_COMMAND_GET_LIDAR_STATUS Command Code 0x5 0x6 0x7 0x8 0x9 Payload Length 0 1 byte 0 0 0 Function To retrieve the LiDARs calibration file To retrieve PTP diagnostics for a specified PTP Query Type To retrieve inventory info To retrieve configuration parameters To retrieve status info such as temperature and system uptime PTC_COMMAND_GET_LIDAR_CALIBRATION Command message payload None Feedback message payload LiDARs calibration file in CSV Format (ASCII) Including 3 fields: LaserID, Elevation, and Azimuth Offset 41 PTC_COMMAND_PTP_DIAGNOSTICS Command message payload 1-byte PTP Query Type Table 6.4 PTP Query Type PTP Query Type PTP STATUS PTP TLV PORT_DATA_SET PTP TLV TIME_STATUS_NP PTP TLV GRANDMASTER_SETTINGS_NP Value 0x1 0x2 0x3 0x4 Table 6.5 PTP STATUS Description Offset between master and slave, in units of ns

"NONE", /*0*/

"INITIALIZING", /*1*/

"FAULTY", /*2*/

"DISABLED", /*3*/

"LISTENING", /*4*/

"PRE_MASTER"/*5*/

Time elapsed since the last handshake between master/slave, in milliseconds

"MASTER", /*6*/

"PASSIVE", /*7*/

"UNCALIBRATED", /*8*/

"SLAVE", /*9*/

"GRAND_MASTER", /*10*/

PTP Feedback message payload a. PTP STATUS Field master_offset ptp_state Length 8 bytes 4 bytes elapsed_millisec 4 bytes 42 b. PTP TLV PORT_DATA_SET Per IEEE-1588 standard management TLV PORT_DATA_SET Field portIdentity Length 10 bytes portState logMinDelayReqInterval 1 byte 1 byte peerMeanPathDelay logAnnounceInterval 8 bytes 1 byte announceReceiptTimeout logSyncInterval 1 byte 1 byte delayMechanism 1 byte logMinPdelayReqInterval 1 byte versionNumber 1 byte Table 6.6 PTP TLV PORT_DATA_SET Description Port identity Including 8-bytes clock identity and 2-byte port number Same as ptp_state in the PTP STATUS message Minimum permitted mean time interval between Delay_Req messages Specified as a power of two in seconds Default: 0 (representing 1 second). Peer mean path delay value, in units of ns Mean time interval between Announce messages of the portDS set Specified as a power of two in seconds Number of missed Announce messages before the last Announce messages of the portDS set expires Mean time interval between Sync messages Specified as a power of two in seconds Delay mechanism Possible values: E2E, P2P, and Auto Minimum permitted mean time interval between Pdelay_Req messages Specified as a power of two in seconds PTP version number 2 as v2 43 c. LinuxPTP TLV TIME_STATUS_NP (0xc000) LinuxPTP specific TLV Table 6.7 LinuxPTP TLV TIME_STATUS_NP Field master_offset ingress_time cumulativeScaledRateOffset scaledLastGmPhaseChange gmTimeBaseIndicator lastGmPhaseChange gmPresent gmIdentity Length 8 bytes 8 bytes 4 bytes 4 bytes 2 bytes 10 bytes 4 bytes 8 bytes Description Time difference between master and slave at the last handshake, in units of ns Hardware ingress time stamp of the last sync message received by the slave Relative information in the last received follow_up message Relative information in the last received follow_up message Relative information in the last received follow_up message Relative information in the last received follow_up message Whether grandmaster is present Grandmaster identity when gmPresent is 1 d. LinuxPTP TLV GRANDMASTER_SETTINGS_NP (0xc001) Field clockQuality utc_offset time_flags time_source Length 4 bytes 2 bytes 1 byte 1 byte Table 6.8 LinuxPTP TLV GRANDMASTER_SETTINGS_NP Description Clock quality of the current grandmaster clock selected by the slave UTC_Offset value set by the grandmaster clock Time flag of the grandmaster Time source of the grandmaster 44 PTC_COMMAND_GET_INVENTORY_INFO Command message payload None Feedback message payload Field sn date_of_manufacture mac sw_ver hw_ver control_fw_ver sensor_fw_ver angle_offset model motor_type num_of_lines reserved Length 18 bytes 16 bytes 6 bytes 16 bytes 16 bytes 16 bytes 16 bytes 2 bytes 1 byte 1 byte 1 byte 11 bytes Table 6.9 PTC_COMMAND_GET_INVENTORY_INFO Description Serial number of the device Date of manufacture in ASCII (yyyy-mm-dd) MAC address of the device Software version in ASCII (xx.xx.xx) Hardware version in ASCII Controller firmware version in ASCII Sensor firmware version in ASCII Zero-angle offset, as an unsigned short value in network byte order (big endian) 0 Pandar40P 2 Pandar64 5 - Pandar40 0 - single direction 1 - dual direction NOTE Not supported on Pandar40 Number of channels

PTC_COMMAND_GET_CONFIG_INFO Command message payload None 45 Feedback message payload Field ipaddr mask gateway Length 4 bytes 4 bytes 4 bytes dest_ipaddr 4 bytes dest_lidar_udp_port 2 bytes dest_gps_udp_port 2 bytes spin_rate sync sync_angle start_angle stop_angle clock_source udp_seq trigger_method 2 bytes 1 byte 2 bytes 2 bytes 2 bytes 1 byte 1 byte 1 byte Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued on the next page) Description IP address of the device Default 192.168.1.201 Subnet mask of the device Default 255.255.255.0 Gateway of the device Default 192.168.1.1 Destination IP address of Point Cloud Data Packets Default 255.255.255.255 Destination UDP port of Point Could Data Packets Default 2368 Destination UDP port of GPS Data Packets, valid only when the clock_source is GPS Default 10110 Rotation speed of the motor, in units of rpm Default 600 Whether to synchronize the given angle (sync_angle) with GPS PPS 0 Disable (default) 1 Enable Default 0 Default 0 Device will output point cloud data in the angle ranges between start_angle and stop_angle Default 36000, in units of 0.01 degrees To configure clock source 0 GPS (default) 1 PTP Whether the point cloud data will include a UDP sequence number field 0 UDP sequence OFF (default) 1 UDP sequence ON 0 - angle based 1 - time based (default) 46 return_mode standby_mode motor_status vlan_flag vlan_id reserved 1 byte 1 byte 1 byte 1 byte 2 bytes 9 bytes Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued) 0 - last return 1 - strongest return 2 - dual return 0 - in operation 1 - standby 0x0* - cannot reverse the rotation direction 0x1* - supports reversing the rotation direction 0x*0 - currently rotating clockwise 0x*1 - currently rotating counterclockwise 0 - VLAN not in use 1 - VLAN in use VLAN ID

PTC_COMMAND_GET_LIDAR_STATUS Command message payload None 47 Feedback message payload Field system_uptime motor_speed temperature Length 4 bytes 2 bytes 4 * 8 bytes gps_pps_lock gps_gprmc_status startup_times total_operation_time ptp_clock_status 1 byte 1 byte 4 bytes 4 bytes 1 byte reserved 5 bytes Table 6.11 PTC_COMMAND_GET_LIDAR_STATUS Description System uptime in seconds Real-time motor speed, in units of rpm Real-time temperature array (unit: 0.01C) 0 bottom circuit board T1 1 bottom circuit board T2 2 laser emitting board RT_L 3 receiving board RT_R 4 receiving board RT2 5 top circuit RT3 6 top circuit RT4 7 top circuit RT5 1 - Lock 0 - Unlock 1 - Lock 0 Unlock NOTE Not supported on Pandar40 System start-up times Total time in operation 0 - free run 1 tracking 2 locked 3 frozen NOTE Not supported on Pandar40

48 7 Sensor Maintenance Storage Store the device in a dry, well ventilated environment. The ambient temperature should be between -40C and +85C, and the humidity below 85%. Please check the specifications page in this user manual for product IP rating, and avoid any ingress beyond that rating. Transport Package the device in shock-proof materials to avoid damage during transport. Cleaning If the devices enclosure is stained with dirt, fingerprints, or oil, perform the follow cleaning steps. 1) Spray the LiDAR enclosure with warm, neutral solvent using a spray bottle Solvent type Solvent temperature 99% isopropyl alcohol (IPA) or 99% ethanol (absolute alcohol) 40 to 60 2) After the stains on the LiDAR enclosure loosen, gently wipe the enclosure along its curved surface with a piece of soft microfiber cloth 3) Should another cleaning agent be applied to remove certain stains, repeat Step 1 afterwards 4) Spray the enclosure with clean water, and gently wipe off the remaining liquid with another piece of soft microfiber cloth 49 8 Troubleshooting Symptoms Points to Check Table 8.1 Troubleshooting (To Be Continued) Indicator light is off on the connection box 1) Make sure the power adapter is properly connected and in good condition 2) Make sure the connection box is intact Motor is not running Same as above 1) Make sure the Ethernet cable is properly connected Motor is running but no output data received, neither on Wireshark nor PandarView 2) Check the IP configuration: use Wireshark to get the LiDARs IP and make sure its in the same subnet with the PCs 3) Check the angle range of laser firing and data generation on the Azimuth FOV page of web control 4) Check the firmware version of the sensor on the Upgrade page of web control. If the version is not shown properly but as xxxx, contact Hesai for further diagnostics Can receive data on Wireshark but not on PandarView 1) Make sure the Destination IP and the Destination LiDAR Port are set correctly on the Settings page of web control 2) Make sure the PCs firewall is disabled 1) Make sure the Ethernet cable is properly connected. Cannot open web control 2) Make sure the LiDARs and the PCs IP addresses are correct, possibly using Wireshark 3) Restart the PC, or connect the LiDAR to another PC Abnormal packet size (missing packets) 1) Check if the FOV (field of view) has been changed on the Azimuth FOV page of web control 2) Check if the Ethernet is overloaded 3) Check if a switch is connected into the network. The data transmitted from other devices may cause network congestion and packet loss 4) Connect the PC only to the LiDAR and check for packet loss 50 Symptoms Points to Check Table 8.1 Troubleshooting (Continued) Abnormal point cloud

(misaligned points, flashing points, or incomplete FOV) 1) Make sure the LiDARs enclosure is clean. If not, refer to Chapter 7 Sensor Maintenance for the cleaning method 2) Make sure the LiDARs calibration file is imported. (Pandar40P automatically imports the calibration file, while Pandar40 requires manual importing) 3) Check for packet loss. If no packet is missing while the point cloud flashes, please update PandarView to the latest version and restart the PC. If problem persists, try connecting the LiDAR to another PC 1) Make sure the GPS receiver is properly connected 2) Make sure the PPS signal is connected to the LiDAR GPS cannot be locked 3) Make sure the Destination GPS Port is correct on the Settings page of web control 4) Make sure the input GPS signals satisfy the electrical requirements in Section 2.2 Interface and Section 2.3.1 Connection Box Interfaces in the user manual 51 Appendix I Channel Distribution Each channels horizontal angle = rotors current reference angle + horizontal angle offset Define clockwise in the top view as positive. Each channels vertical angle is a constant. 0 represents the horizontal direction. Define upward as positive. Table 1.1 Pandar40P Channel Distribution (To Be Continued) Channel #

in UDP Data 01 (Top Beam) 02 03 04 05 06 07 08 09 10 11 12 (Horizontal Beam) 13 14 15 16 17 18 19 Horizontal Angle Offset

(Azimuth) Vertical Angle

(Elevation) Instrument Range

(in meters) Range (in meters) with Reflectivity

-1.042

-1.042

-1.042

-1.042

-1.042

-1.042 3.125

-5.208

-1.042 3.125

-5.208

-1.042 3.125

-5.208

-1.042 3.125

-5.208

-1.042 3.125 15.00 11.00 8.00 5.00 3.00 2.00 1.67 1.33 1.00 0.67 0.33 0.00

-0.33

-0.67

-1.00

-1.33

-1.67

-2.00

-2.33 130 130 130 130 230 230 230 230 230 230 230 230 230 230 230 230 230 230 230 200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@10%

200@10%

200@10%

200@10%

200@10%

200@10%

200@10%

200@10%

200@10%

200@10%

200@20%

52 Channel #

in UDP Data Horizontal Angle Offset

(Azimuth) Vertical Angle

(Elevation) Instrument Range

(in meters) Range (in meters) with Reflectivity Table 1.1 Pandar40P Channel Distribution (Continued) 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 (Bottom Beam)

-5.208

-1.042 3.125

-5.208

-1.042 3.125

-5.208

-1.042 3.125

-5.208

-1.042

-1.042

-1.042

-1.042

-1.042

-1.042

-1.042

-1.042

-1.042

-1.042

-1.042

-2.67

-3.00

-3.33

-3.67

-4.00

-4.33

-4.67

-5.00

-5.33

-5.67

-6.00

-7.00

-8.00

-9.00

-10.00

-11.00

-12.00

-13.00

-14.00

-19.00

-25.00 230 230 230 230 230 230 230 130 130 130 130 130 130 130 130 130 130 130 130 130 130 200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

200@20%

53 Appendix II Absolute Time and Laser Firing Time Absolute Time of Point Cloud Data Packets The absolute packing time of a Point Cloud Data Packet is the sum of UTC time and s time. UTC time can be retrieved either from the current Point Cloud Data Packet (6 bytes, year, month, date, hour, minute, second), or from the previous GPS Data Packet (6 bytes of Date and 6 bytes of time). s time can be retrieved from this Point Cloud Data Packet (4 bytes) NOTE The calculation of absolute time is different when PTP protocol is used. See Appendix III PTP Protocol. Laser Firing Time Assuming that the absolute packing time of a Point Cloud Data Packet is t0, the end time of each block (the time when all the lasers finish firing) can be calculated. For Pandar40P, there are 10 blocks of ranging data in each Point Cloud Data Packet, as shown below. Each block contains the ranging data from 40 channels, one return per channel. Block1 0xFFEE Azimuth 1 Channel 1 Channel 2 Channel 40 Table II.1 Point Could UDP Data Ranging Data Ranging Data: 1240 bytes (10 blocks) Block3 0xFFEE Azimuth 3 Channel 1 Channel 2 Channel 40 Block2 0xFFEE Azimuth 2 Channel 1 Channel 2 Channel 40 Block10 0xFFEE Azimuth 10 Channel 1 Channel 2 Channel 40 54 Single Return Mode The ranging data generated by one round of firing is stored in one block. The calculation of each Block's end time is as follows:

Table II.2 End Time of Each Block Single Return Block Block 10 Block N Block 3 Block 2 Block 1 End Time (s) t0 - 28.58 t0 - 28.58 - 55.56 * (10 - N) t0 - 28.58 - 55.56 * 7 t0 - 28.58 - 55.56 * 8 t0 - 28.58 - 55.56 * 9 Dual Return Mode The ranging data generated by one round of firing is stored in two adjacent blocks: the odd number block is the last return, and the even number block is the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block. Therefore, Block 1 & Block 2 have the same firing time, Block 3 & Block 4 the same firing time, and so on. Table II.3 End Time of Each Block Dual Return Block Block 10 & Block 9 Block 8 & Block 7 Block 6 & Block 5 Block 4 & Block 3 Block 2 & Block 1 End Time (s) t0 - 28.58 t0 - 28.58 - 55.56 * 1 t0 - 28.58 - 55.56 * 2 t0 - 28.58 - 55.56 * 3 t0 - 28.58 - 55.56 * 4 55 Having acquired the end time of each block, the laser firing time of each channel can be calculated as follows. For example, assume that the end time of Block 6 is t6, then:

Table II.4 Laser Firing Time of Each Channel Firing Sequence 1 2 3 4 5 6 7 8 9 10 Firing Sequence 21 22 23 24 25 26 27 28 29 30 Laser ID 4 40 36 28 12 16 32 24 29 17 Laser ID 2 38 34 6 22 10 30 18 23 11 Firing Time (s) t6 - 3.62 t6 - 3.62 (same as above) t6 - 4.92 t6 - 6.23 t6 - 8.19 t6 - 8.19 (same as above) t6 - 9.5 t6 - 11.47 t6 - 12.77 t6 - 14.74 Firing Time (s) t6 - 28.47 t6 - 28.47 (same as above) t6 - 29.77 t6 - 31.74 t6 - 31.74 (same as above) t6 - 33.71 t6 - 35.01 t6 - 36.98 t6 - 38.95 t6 - 40.91 Firing Sequence 11 12 13 14 15 16 17 18 19 20 Firing Sequence 31 32 33 34 35 36 37 38 39 40 Laser ID 3 39 35 25 9 13 31 21 26 14 Laser ID 1 37 33 5 19 7 27 15 20 8 Firing Time (s) t6 - 16.04 t6 - 16.04 (same as above) t6 - 17.35 t6 - 18.65 t6 - 20.62 t6 - 20.62 (same as above) t6 - 21.92 t6 - 23.89 t6 - 25.19 t6 - 27.16 Firing Time (s) t6 - 42.22 t6 - 42.22 (same as above) t6 - 43.52 t6 - 45.49 t6 - 45.49 (same as above) t6 - 47.46 t6 - 48.76 t6 - 50.73 t6 - 52.7 t6 - 54.67 56 Appendix III PTP Protocol The Precision Time Protocol (PTP), also known as the IEEE 1588 standard, is used to synchronize clocks across a computer network. It can achieve sub-

microsecond clock accuracy and is suitable for measurement and control systems. LiDAR Connection When Using PTP Figure III.1 LiDAR Connection When Using PTP 57 Absolute Packing Time When Using PTP To use PTP as the clock source, users need to connect a PTP master device to get the absolute time. If a PTP clock source is selected, the LiDAR will not transmit GPS Data Packets, but only Point Cloud Data Packets with 4-byte s timestamps and 6-byte UTC time. The sum of the s timestamp and the UTC time is the absolute packing time of this data packet. NOTE The PTP master device is a third-party product and is not included with the LiDAR. The LiDARs clock follows the PTP master device according to the PTP protocol. The timestamps and UTC time in Point Cloud Data Packets strictly follow the PTP time from the PTP master device. There may be offset with UTC time for certain PTP master devices. Please verify the configuration and calibration of your PTP master device in order to get precise time information. The LiDAR works as a PTP slave device and the PTP protocol is Plug&Play. No additional setup is required. If a PTP clock source is selected but no PTP master device is available, the LiDAR will count the time from an invalid past time. If a PTP clock source is supplied and later stopped, the LiDAR will continue to count the time with an internal clock. NOTE The calculation of laser firing time remains the same whether PTP is used or not, as detailed in Appendix II. 58 Appendix IV Phoenix Contact Phoenix Contact can be used as the LiDARs communication connector, in place of the default Lemo Contact in Section 2.2 Interfaces. Phoenix part number: SACC-M12MS-8CON-PG 9-SH - 1511857 (male, on the LiDAR), SACC-M12FS-8CON-PG 9-SH 1511860 (female, on the connecting box) From the eye to the interface Pin #

1 2 3 4 5 6 7 8 Figure IV.1 Phoenix Connector (Male) Table IV.1 Pin Description of Phoenix Connector Function Ethernet RX-

Ethernet RX+

Ethernet TX-

Ethernet TX+

GPS Serial Data GPS PPS

+12 V Ground (Return) Color Blue Light Blue (Blue/White) Orange Light Orange (Orange/White) White Yellow Red Black Voltage

-1 V to 1 V

-1 V to 1 V

-1 V to 1 V

-1 V to 1 V

-13 V to +13 V 3.3 V/5 V 12 V

59 Appendix V Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in the Point Cloud Data Packet linearly represents target reflectivity from 0 to 255%. Alternatively, users can choose the Nonlinear Mapping mode on the Settings page of web control (see Section 4.2 Settings). The nonlinear relationship is detailed below.

y t i v i t c e l f e R l a u t c A Reflectivity Index (0~255) Figure V.1 Nonlinear Reflectivity Mapping 60 Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Table V.1 Nonlinear Reflectivity Mapping (To Be Continued)

(0~255) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24

(%) 0 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 0.5 0.56 0.61 0.67 0.75 0.81 0.87 0.95

(0~255) 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89

(%) 6.9 7.1 7.3 7.5 7.7 7.9 8.12 8.37 8.62 8.87 9.1 9.3 9.5 9.7 9.9 10.17 10.5 10.83 11.12 11.37 11.62 11.87 12.12 12.37 12.62

(0~255) 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154

(%) 26.83 27.25 27.75 28.17 28.5 28.83 29.25 29.75 30.25 30.75 31.17 31.5 31.83 32.25 32.75 33.25 33.75 34.25 34.75 35.25 35.75 36.25 36.75 37.25 37.75

(0~255) 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219

(%) 60.25 60.75 61.25 61.75 62.5 63.25 63.75 64.5 65.25 65.75 66.25 66.75 67.5 68.25 68.75 69.5 70.25 70.75 71.5 72.25 72.75 73.5 74.25 74.75 75.5 61 Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Table V.1 Nonlinear Reflectivity Mapping (To Be Continued)

(0~255) 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49

(%) 1.05 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.85 1.95 2.06 2.19 2.31 2.44 2.56 2.69 2.81 2.94 3.07 3.21 3.36 3.5 3.64 3.79 3.93

(0~255) 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114

(%) 12.87 13.17 13.5 13.83 14.17 14.5 14.83 15.12 15.37 15.62 15.87 16.17 16.5 16.83 17.17 17.5 17.83 18.17 18.5 18.83 19.17 19.5 19.83 20.25 20.75

(0~255) 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179

(%) 38.25 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 50.25 50.75

(0~255) 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244

(%) 76.5 77.25 77.75 78.5 79.25 79.75 80.5 81.25 81.75 82.5 83.5 84.25 84.75 85.5 86.5 87.25 87.75 88.5 89.25 89.75 90.5 91.5 92.5 93.25 93.75 62 Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Table V.1 Nonlinear Reflectivity Mapping (Continued)

(0~255) 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64

(%) 4.08 4.25 4.42 4.58 4.75 4.92 5.1 5.3 5.5 5.7 5.9 6.1 6.3 6.5 6.7

(0~255) 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129

(%) 21.17 21.5 21.83 22.17 22.5 22.83 23.25 23.75 24.17 24.5 24.83 25.25 25.75 26.17 26.5

(0~255) 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194

(%) 51.25 51.75 52.25 52.75 53.5 54.25 54.75 55.25 55.75 56.5 57.25 57.75 58.25 58.75 59.5

(0~255) 245 246 247 248 249 250 251 252 253 254

(%) 94.5 95.5 96.25 96.75 97.5 98.5 99.5 132 196 242 63 Appendix VI Certification Info FCC Declaration IC Statement This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions:

(1) this device may not cause interference, and

(2) this device must accept any interference, including interference that may cause undesired operation of the device. Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'utilisateur de l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible d'en compromettre le fonctionnement. 64 Appendix VII Support and Contact Technical Support For any question not addressed in this manual, please contact us at:

service@hesaitech.com www.hesaitech.com https://github.com/HesaiTechnology NOTE Please leave your questions under the corresponding GitHub projects. Legal Notice Copyright 2019 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited. Hesai Technology makes no representations or warranties, either expressed or implied, with respect to the contents hereof and specifically disclaims any warranties, merchantability or fitness for any particular purpose. Further, Hesai Technology reserves the right to revise this publication and to make changes from time to time in the contents hereof without obligation to notify 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 Hesais official website are properties of their respective owners. The software included in this product contains copyright that is registered under Hesai Technology. Any third party is not permitted, except as expressly permitted by licensor or expressly required by applicable law, to decompile, reverse engineer, disassemble, modify, rent, lease, loan, distribute, sublicense, create derivative works based on the whole or any part of the software. 65 Hesai Photonics Technology Co., Ltd Phone: 400-805-1233 Website: www.hesaitech.com Address: Building L2, Hongqiao World Center, Shanghai Business Email: info@hesaitech.com Service Email: service@hesaitech.com HESAI Wechat

64 mm 12 mm FCC ID: 2ASO2Pandar 20 mm 42 mm Pandora Pandar40P+FCC Product Name : Rangefinder Product Model : Pandora Input Voltage : DC 9-32 V Max. Rated Input Current : 3.4 A Product Name : Rangefinder Product Model : Pandar40P FCC ID: 2ASO2PANDAR40P Input Voltage : DC 9-48 V Max. Rated Input Current : 3.0A