FCC ID: SY4-A02048 Surveying System

 

www.hesaitech.com PandarXT-16 16-Channel Medium-Range Mechanical Lidar User Manual HESAI Wechat Contents About This Manual ..................................................................................... 1 Safety Notice .............................................................................................. 2 1 Introduction ........................................................................................... 9 1.1 Operating Principle ........................................................................ 9 Lidar Structure ............................................................................. 10 1.2 Channel Distribution .................................................................... 12 1.3 1.4 Specifications ............................................................................... 14 4 Web Control ......................................................................................... 50 Home ............................................................................................. 51 4.1 Settings ......................................................................................... 53 4.2 Azimuth FOV ................................................................................. 61 4.3 4.4 Operation Statistics ...................................................................... 64 4.5 Upgrade ........................................................................................ 65 5 Communication Protocol .................................................................... 66 2 Setup.................................................................................................... 18 6 Sensor Maintenance ............................................................................ 67 2.1 Mechanical Installation ................................................................ 18 Interfaces ...................................................................................... 24 2.2 Connection Box (Optional) .......................................................... 28 2.3 2.4 Get Ready to Use .......................................................................... 35 7 Troubleshooting .................................................................................. 69 Appendix I Channel Distribution Data ..................................................... 73 Appendix II Absolute Time of Point Cloud Data ....................................... 74 3 Data Structure ...................................................................................... 36 3.1 3.2 Point Cloud Data Packet .............................................................. 37 GPS Data Packet ........................................................................... 44 Appendix III Power Supply Requirements ............................................... 80 Appendix IV Nonlinear Reflectivity Mapping ........................................... 82 Appendix V Legal Notice .......................................................................... 87 Doc Version: X02-en-230510 About This Manual Please make sure to read through this user manual before your first use and follow the instructions herein when you operate the product. Failure to comply with the instructions may result in product damage, property loss, personal injuries, and/or a breach of warranty. Access to This Manual To obtain the latest version:

Visit the Download page of Hesai's official website: https://www.hesaitech.com/downloads/

Or contact your sales representative at Hesai Or contact Hesai's technical support team: service@hesaitech.com Technical Support If your question is not addressed in this user manual, please contact us at:

service@hesaitech.com https://www.hesaitech.com/technical-support/

https://github.com/HesaiTechnology

(Please leave your questions under the corresponding GitHub projects.) Legends Warnings: instructions that must be followed to ensure safe and proper use of the product. Notes: additional information that may be helpful.

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Safety Notice Please check the certification information on the product's nameplate and read through the corresponding certification warnings. If specific users require not to present certification information on the nameplate, please follow the agreed-to arrangements. If you incorporate this lidar product into your product(s), 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 is the responsibility of the end-product supplier to assess the risk of use in accordance with applicable standards, and inform the intended user of safety-related information. 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. Special Warnings Laser Safety

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Hot Surface Abnormalities Hot parts!

Burned fingers when handling the parts. Wait one-half hour after switching off before handling parts. In any of the circumstances listed below, stop using the product immediately:

You suspect that the product malfunctions or is damaged. For example, the product produces significant noise or is visibly vibrating. You or other people in the nearby environment feel discomfort. Any device or equipment in the nearby environment malfunctions. Meanwhile, contact Hesai Technology or an authorized Hesai Technology service provider for more information on product disposal. Prohibition of Disassembly Unless expressly agreed to in writing by Hesai Technology, do NOT disassemble the product. Operating Environment Radio Frequency Interference Please check the certification information on the product's nameplate and read through the corresponding certification warnings. If specific users require not to present certification information on the nameplate, please follow the agreed-to arrangements. Although the product is designed, tested, and manufactured to comply with the regulations on RF radiation (such as FCC, CE-EMC, or KCC), the radiation from the product may still influence electronic devices.

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Vibration If significant mechanical shocks and vibration may exist in the product's operating environment, please contact Hesai's technical support team to obtain the shock and vibration limits of this product model. Exposure to over-the-limit shocks or vibration may damage the product. Make sure to package the product in shock-proof materials to avoid damage during transport. Explosive Atmosphere and Other Air Conditions Do NOT use the product 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. Do NOT expose the product to high concentrations of industrial chemicals, including liquefied gases that are easily vaporized (such as helium). Such exposure can damage or weaken the product's function. Ingress Protection Please check the product's user manual for its IP rating (refer to the Specifications section). Make 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 the operating temperature range. Recommended Storage Conditions Store the product in a dry, well-ventilated place. The recommended ambient temperature is 235C, and the humidity between 30% and 70%. Light Interference Certain precision optical instruments may be interfered by the laser light emitted from the product. Please check all the instructions of these instruments and take preventive measures if necessary. For example, certain product models are equipped with protective covers, which can be used to block laser light emission when the product is temporarily not used for measurement.

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Personnel Recommended Operator Qualifications 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. If the product operators or other people in the nearby environment wear medical devices (such as cochlear implants, heart pacemakers, and defibrillators), make sure to consult the physicians and medical device manufacturers for medical advice, such as determining whether it is safe to work near the product. If you suspect that the product is interfering with your medical device, stop using the product immediately. 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 (including cables) for the product, make sure to comply with the electrical specifications in the product's user manual (refer to the Specifications section and the Power Supply Requirements section); for technical support, please contact Hesai Technology. Do NOT use off-spec or damaged cables or adapters. Electrical Interface Before powering on the product, make sure the electrical interfaces are dry and clean. Do NOT power on the product in a humid environment. Please check the Interfaces section in the product's user manual and strictly follow the instructions on plugging/unplugging the connector. If abnormalities already exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support. To prevent breakdown, turn off the power source before connection and disconnection.

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Eye Safety The product is a Class 1 laser product. It satisfies the requirements of:

IEC/EN 60825-1:2014 EN 60825-1:2014+A11:2021 21 CFR 1040.10 and 1040.11 except for deviations (IEC 60825-1 Ed.3) pursuant to Laser Notice No.56, dated May 8, 2019. Please follow the standard laser safety guidelines accordingly. CAUTION: use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure. For maximum self-protection, it is strongly warned NOT to look into the transmitting laser through a magnifying product (microscope, eye loupe, magnifying glass, etc.). This product does not have a power switch. It starts operating once connected to power. During operation, the entire cover lens / optical window can be regarded as the product's laser emitting window; looking at the cover lens / optical window can be regarded as looking into transmitting laser. Product Enclosure The product contains metal, glass, plastic, as well as sensitive electronic components. In case the product has been dropped and burnt, stop using it 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. Before operating the product, make sure it is properly and securely mounted. The mounting should prevent the product from leaving its mounting position in case of external forces (such as collisions, high winds, and stone impacts). If the product enclosure consists of fins or grooves, please wear gloves when handling the product. Applying too much pressure with your bare hands may cause cuts, bruises or other injuries.

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Product Enclosure: Cover lens / optical window Do NOT apply protective film, wax or any other substance on the cover lens / optical window. To keep the product's cover lens / optical window from fingerprints and other stains, do NOT touch the cover lens / optical window with bare hands. If the cover lens / optical window is already stained, please refer to the cleaning method in the Sensor Maintenance section of the user manual. To prevent scratches, do NOT touch the product's cover lens / optical window with hard or sharp objects. If scratches already exist, stop using the product and contact Hesai technical support. Severe scratches may affect the quality of the product's point cloud data. Before installing any exterior part, please ensure that each exterior part and its movable area do not overlap the detection blind zone of lidar product. For questions on determining the detection blind zone, contact Hesai technical support. Hot Surface During operation or a time period after operation, the product's enclosure can be hot. To prevent discomfort or even burns, do NOT touch the product's enclosure with your skin. To prevent fires, do NOT touch the product's enclosure with flammable materials. Certain product models support active heating of the cover lens / optical window to reduce the impact of ice and frost. Users can turn off this function. While active heating is ON, please avoid direct skin contact with the cover lens / optical window. For the location of the cover lens, please refer to the Introduction section in the product's user manual. Peripherals The product may be used along with accessories and devices, such as suction cup mounts, extension cables, power supplies, network devices, GPS/PTP devices, and cleaning equipment. Please refer to all relevant specifications in the product's user manual, or contact Hesai technical support. Using off-spec or unsuitable devices may result in product damage or even personal injuries. Firmware and Software Upgrading Make sure to use only the upgrade files provided by Hesai Technology. Make sure to observe all the instructions provided for that upgrade file.

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Custom Firmware and Software 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 sure to strictly follow all the instructions and safety precautions provided for that custom version. If the product does not function as anticipated, stop using the product immediately and contact Hesai technical support. Point Cloud Data Processing Certain product models support one or more point cloud data processing features, include but are not limited to: Noise Filtering, Interstitial Points Filtering, Retro Multi-Reflection Filtering, and Non-Linear Reflectivity Mapping. These features are configurable and are intended only to assist the user in extracting information from the point cloud data. Users are in full control of whether to use any of these features. Moreover, users are responsible for analyzing the product's intended application scenarios and evaluating the risk of enabling one or more of these features in combination. The supported features for this product model can be found on web control. Repair and Maintenance For product repair or maintenance issues, please contact Hesai Technology or an authorized Hesai Technology service provider. Repair Unless expressly agreed to in writing by Hesai Technology, do NOT by yourself or entrust any third party to disassemble, repair, modify, or retrofit the product. Such a breach:

can result in product damage (including but not limited to water resistance failure), property loss, and/or personal injuries;

shall constitute a breach of warranty.

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1 Introduction This manual describes the specifications, installation, and data output format of PandarXT-16. 1.1 Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of 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 accurately measured by calculating the time between laser emission and receipt.

2 d: distance c: speed of light t: travel time of the laser beam Figure 1.1 Distance Measurement Using Time of Flight

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1.2 Lidar Structure Laser emitters and receivers are attached to a motor that rotates horizontally. Cover Lens Laser Receiver Laser Emitter Side Connector Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric View) Figure 1.4 Rotation Direction (Top View)

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Bottom Connector Figure 1.5 Coordinate System (Isometric View) Figure 1.6 Rotation Direction (Top View) The lidar's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.7 to Figure 1.10. All measurements are relative to the origin. Lidar azimuthal position is defined in Figure 1.4. Y-axis corresponds to 0. For example, when all channels pass the 90 position:

the lidar is at the 90 position;

the Azimuth field in the corresponding data block in the Point Cloud Data Packet will be 90.

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1.3 Channel Distribution The vertical resolution is 2 across the FOV, as shown in Figure 1.7. Side Connector Figure 1.7 Channel Vertical Distribution Figure 1.8 Laser Emitter/Receiver Position (Unit: mm)

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Bottom Connector Figure 1.9 Channel Vertical Distribution Figure 1.10 Laser Emitter/Receiver Position (Unit: mm) Each channel has an intrinsic vertical angle offset. The offsetted angles s 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 PTC command 0x05, as described in Hesai TCP API Protocol (Section 5);

or export the file using PandarView 2 (see the PandarView 2 user manual).

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1.4 Specifications SENSOR Scanning Method Mechanical Rotation Channel 16 MECHANICAL/ELECTRICAL/OPERATIONAL Wavelength Laser Class 905 nm Class 1 Eye Safe Instrument Range 0.05 to 120 m Ingress Protection IP6K7 Range Capability 80 m @10% reflectivity (Channels 5 to 12) Dimensions Height:

76.0 mm (Side Connector) 50 m @10% (Channels 1 to 4, 13 to 16) Range Accuracy 1 cm (typical) 83.0 mm (Bottom Connector) Top/Bottom:

100.0 / 103.0 mm 2 cm (standard) Rated Voltage Range DC 9 to 36 V Range Precision 0.5 cm (typical, 1) Power Consumption 9 W 2 cm (standard) FOV (Horizontal) 360 Resolution (Horizontal) 0.09 0.18 0.36

(5 Hz)

(10 Hz)

(20 Hz) Operating Temperature

-20 to 65 Storage Temperature

-40 to 85 Weight DATA I/O 0.8 kg (Side Connector) 0.9 kg (Bottom Connector) FOV (Vertical) 30 (-15 to +15) Data Transmission Ethernet Resolution (Vertical) 2 100BASE-TX, Slave Mode Frame Rate 5 Hz, 10 Hz, 20 Hz Measurements Distance, Azimuth Angle, Intensity Return Modes Single Return (Last, Strongest, First) Data Points Generated Single Return:

320,000 points/sec Dual Return Dual Return:

640,000 points/sec Point Cloud Data Rate Single Return:

12.20 Mbps Specifications are subject to change. Please refer to the latest Dual Return:

24.40 Mbps version. (Continued on the next page) Clock Source GPS / PTP PTP Clock Accuracy 1 s PTP Clock Drift 1 s/s

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(Continued) Range capability: typical value Test conditions: 100 klux ambient illuminance, PoD (probability of detection) > 90%

The range capability of each channel is listed in Appendix I (Channel Distribution Data). Range accuracy and precision May vary with range, temperature, and target reflectivity. Typical values: the average among Channels 5 to 12, measured outdoors within 0.5 to 70 m, under 30 ambient temperature, and with a target reflectivity of 50%. Standard values: 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 temperature, 12 V (lidar input voltage), 600 rpm (spin rate) Not including accessories such as the connection box. The external power supply should be able to provide at least 30 W. PTP Clock Accuracy and Clock Drift: typical value Test conditions: room temperature PTP Clock Drift Defined as the drift at a constant temperature after the lidar (slave clock) loses connection to the PTP master.

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Range Accuracy Definition: the average of the differences between multiple measurements and the target's true distance, measured by a single channel Conditions: 30 ambient temperature, outdoors; Channels 5 to 12 5.0 4.0 3.0 2.0 1.0 0.0

-1.0 5.0 4.0 3.0 2.0 1.0 0.0

-1.0

) m c

y c a r u c c A

) m c

y c a r u c c A Accuracy @50% Reflectivity Solid dot: average among channels Error bar: best and worst channels Measurements taken by the three samples at the same distance (30 m) are horizontally spaced apart for ease of view Random Sample 1 Random Sample 2 Random Sample 3 Random Sample 1 Random Sample 2 Random Sample 3 0.05 0.5 1 3 5 10 20 30 50 70 90 Target Distance (m) Accuracy @10% Reflectivity 0.05 0.5 1 3 5 10 20 30 50 70 90 Target Distance (m)

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Range Precision Definition: the standard deviation among multiple measurements, measured by a single channel Conditions: 30 ambient temperature, outdoors; Channels 5 to 12 2.5 2.0 1.5 1.0 0.5 0.0 2.5 2.0 1.5 1.0 0.5 0.0

) m c

n o i s i c e r P

) m c

n o i s i c e r P Precision @50% Reflectivity 0.05 0.5 1 3 5 10 20 30 50 70 90 Target Distance (m) Precision @10% Reflectivity 0.05 0.5 1 3 5 10 20 30 50 70 90 Target Distance (m)

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Random Sample 1 Random Sample 2 Random Sample 3 Random Sample 1 Random Sample 2 Random Sample 3 2 Setup 2.1 Mechanical Installation 2.1.1 Side Connector Figure 2.1 Front View (Unit: mm)

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Figure 2.2 Bottom View (Unit: mm)

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Recommended Installation Figure 2.3 Recommended Installation

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2.1.2 Bottom Connector Figure 2.4 Front View (Unit: mm)

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Figure 2.5 Bottom View (Unit: mm)

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Recommended Installation Figure 2.6 Recommended Installation

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2.2 Interfaces Lemo part number: EEG.0T.309.CLN (female socket, on the lidar) From the eye to the interface Figure 2.7 Lemo Connector (Female Socket)

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2.2.1 Pin Description Pin # Signal Wire Color Voltage Wire Gauge Pin # Signal Wire Color Voltage Wire Gauge 1 2 3 4 5 GPS PPS BLACK 3.3 to 12 V 28 AWG GPS DATA PURPLE

-13 to +13 V 28 AWG GND VIN BROWN 0 V WHITE 9 to 36 V Ethernet TX+

YELLOW

-1 to 1 V 26 AWG 26 AWG 28 AWG 6 7 8 9 Ethernet TX-

GREEN

-1 to 1 V Ethernet RX+

PINK Ethernet RX-

GRAY

-1 to 1 V

-1 to 1 V

Notes: Red and Blue wires are unused 28 AWG 28 AWG 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 used. Pin 9 may be reserved in previous batches. Before connecting or disconnecting an external GPS signal (either using the cable's GPS wire or via the connection box's GPS port), make sure the lidar is powered off. If the lidar has to stay powered on, make sure to:

ground yourself in advance avoid touching the GPS wire or GPS port with bare hands

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The timing requirements of GPS PPS and GPS Serial Data (NMEA) are shown below:

t1 PPS 1 0 NMEA t2 t3 PPS cycle t3 = 1 s 50 s (rising edge to rising edge) PPS pulse width t1 1 ms (10 to 100 ms 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. NMEA signal ends before the PPS rising edge of the next second; t2 100 ms. 2.2.2 Cables OD (outside diameter) = 5.00.2 mm Minimum bend radius: 10 * OD

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2.2.3 Connector Use Connection Turn off the power source. Disconnection Turn off the power source. Make sure the red dot on the cable's plug faces upward, so that Hold the plug's shell and pull the plug straight from the socket. the alignment key matches the slot on the lidar side. Push the plug straight into the lidar's socket. Warnings DO NOT attempt to force 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 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 the lidar's circuits. Before connection: make sure the red dot faces upward Slot on the lidar side Alignment key on the cable side Figure 2.8 Lemo Connection

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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 2.9 Connection Box (Unit: mm)

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2.3.1 Connection Box Interfaces Figure 2.10 Connection Box (Front) Figure 2.11 Connection Box (Back) Port # Port Name Description a b c Standard Ethernet Port RJ45, 100 Mbps Ethernet Power Port GPS Port Connects to a DC power adapter Connector part number: 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:

Pin #

Direction Pin Description Requirements 1 2 3 4 5 6 Input PPS (pulse-per-second) signal for synchronization 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 Output Input Power for the external GPS module Ground for the external GPS module 5 V

Receiving serial data from the external GPS module RS232 level Output Ground for the external GPS module

Reserved

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2.3.2 Connection GPS Module Power Port and Standard Ethernet Port Connect the power port to the adapter Connect the Ethernet port to a computer Lidar Connection Box Computer Figure 2.12 Connection Box - Side Connector (Connection with GPS)

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Connect the power port to the adapter Power Port and Standard Ethernet Port PTP Master (third party) Lidar Connection Box Ethernet Switch Computer Figure 2.13 Connection Box - Side Connector (Connection with PTP)

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Connect the power port to the adapter GPS Module Power Port and Standard Ethernet Port Lidar Connect the Ethernet port to a computer Connection Box Computer Figure 2.14 Connection Box - Bottom Connector (Connection with GPS)

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Connect the power port to the adapter Power Port and Standard Ethernet Port PTP Master (third party) Lidar Ethernet Switch Connection Box Computer Figure 2.15 Connection Box - Bottom Connector (Connection with PTP)

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s 2.4 Get Ready to Use Before operating the lidar, strip away the protective cover outside the cover lens. 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 PC's IP address to 192.168.1.100 and subnet mask to 255.255.255.0 For Ubuntu:

For Windows:

Input this ifconfig command in the terminal:

Open the Network Sharing Center, click on "Ethernet"

~$ sudo ifconfig enp0s20f0u2 192.168.1.100 In the "Ethernet Status" box, click on "Properties"

(replace enp0s20f0u2 with the local Ethernet port name) Double-click on "Internet Protocol Version 4 (TCP/IPv4)"

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 PandarView 2 User Manual). To set parameters, check device info, or upgrade firmware/software (see Section 4 Web Control) To obtain the SDKs (Software Development Kits) for your product model, please find the download link at: www.hesaitech.com/en/download (Product Documentation select product model) or visit Hesai's official GitHub page: https://github.com/HesaiTechnology

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3 Data Structure The lidar outputs Point Cloud Data Packets and GPS Data Packets. Each data packet consists of an Ethernet header and UDP data. Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format. Figure 3.1 Data Structure

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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, and the destination IP is 255.255.255.255 (broadcast). Point Cloud Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC 12 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Ethernet Data Packet Type 2 bytes 0x08, 0x00 Internet Protocol 20 bytes Shown in Figure 3.2 Source: (xx:xx:xx:xx:xx:xx) UDP Port Number 4 bytes UDP source port (0x2710, representing 10000) Destination port (0x0940, representing 2368) UDP Length 2 bytes 0x0240, representing 576 bytes (8 bytes more than the size of the Point Cloud UDP Data, shown in UDP Checksum 2 bytes Shown in the figure below Figure 3.1) Figure 3.2 Point Cloud Ethernet Header - Internet Protocol

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3.1.2 UDP Data Pre-Header: 6 bytes Field 0xEE 0xFF Protocol Version Major Protocol Version Minor Reserved Header: 6 bytes Bytes Description 1 1 1 1 2 SOP (start of packet) SOP (start of packet) Main class of the point cloud UDP packet structure Currently 0x06 Subclass of the point cloud UDP packet structure Currently 0x01

Field Laser Num Block Num Bytes Description 1 1 0x10 (16 channels) 0x08 (8 blocks per packet) First Block Return 1 Reserved Dis Unit Return Number UDP Seq 1 1 1 0x04 (4 mm) 0x02 (each channel can generate two returns maximum)

[7:1] is reserved Least significant bit [0] shows whether this packet includes a UDP sequence number field 1 - UDP sequence ON

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Body: 528 bytes (8 blocks) Block 1 Azimuth 1 Channel 1 Channel 2

... Block 2 Azimuth 2 Channel 1 Channel 2

... Block 3 Azimuth 3 Channel 1 Channel 2

... Channel 16 Channel 16 Channel 16 Block size = size of Azimuth + 16 * size of Channel X

... .. .. .. .. .. Block 8 Azimuth 8 Channel 1 Channel 2

... Channel 16 Each Block in the Body: 66 bytes Field Bytes Description Azimuth 2 Current reference angle of the rotor Unit: 0.01 Channel X 4 2-byte Distance Distance Value = Distance * Dis Unit 1-byte Reflectivity Range: 0 to 255 See the Dis Unit field in the Header. The mapping from this field to target reflectivity can be selected in Section 4.2 (Web Control Reserved

Settings)

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Three single-return modes and three dual-return modes are available (see the Return Mode field in the Tail of Point Cloud UDP Data). In a dual-return mode, the measurements from each round of firing are stored in two adjacent blocks (see table below);

the Azimuth of these two blocks are the same. Return Mode field Block 1 Block 2 Note 0x39 0x3B 0x3C Last return Strongest return If the last return is also the strongest, then Block 2 stores the second strongest return. Last return First return If there is only one return, then Block 1 and Block 2 store the same data. First return Strongest return If the first return is also the strongest, then Block 2 stores the second strongest return. Tail: 24 bytes Field Reserved Return Mode Bytes Description 10 1

0x33 - First Return 0x39 - Dual Return (Last, Strongest) 0x37 - Strongest Return 0x3B - Dual Return (Last, First) 0x38 - Last Return 0x3C - Dual Return (First, Strongest) Motor Speed 2 Unit: RPM

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Field Bytes Description Date & Time 6 The absolute UTC time of this data packet, accurate to the second. Each Byte Year (current year minus 1900) Month Day Hour Minute Second Range 70 1 to 12 1 to 31 0 to 23 0 to 59 0 to 59 Timestamp Factory Information 4 1 Additional Info: 4 bytes 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) 0x42 Field Bytes Description UDP Sequence 4 Sequence number of this UDP packet 0 to 0xFF FF FF FF

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3.1.3 Point Cloud Data Analysis Take Channel 5 in Block 2 as an example:

Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 7, according to Appendix I (Channel Distribution) Notes The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution). 0 is the horizontal direction; define upward as positive (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 = + +

Rotor reference angle during the current round of firing In the Azimuth field of Block 2. Horizontal angle offset of the channel The designed offset for Channel 5 is 0, according to Appendix I (Channel Distribution Table). The accurate horizontal angle offset is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution). Firing time angular offset of the channel = *

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Firing time offset of the channel Look up the table in Appendix II (Absolute Time of Point Cloud Data). Spin rate of the motor See Section 4.1 (Web Control Home). Analyze the distance of 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 or rectangular coordinate system z Data point Distance y Horizontal angle Vertical angle x Obtain the real-time point cloud data by analyzing and drawing every data point in each frame

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3.2 GPS Data Packet GPS Data Packets are triggered every second. Before NMEA messages are available from the external GPS module Each rising edge of the lidar's internal 1 Hz signal triggers a GPS Data Packet. The time and date in the GPS Data Packets are unreal, starting from the UTC time 20 05 20 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 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, second) GPS Data Packets: 6-byte Date (year, month, day) and 6-byte Time (second, minute, hour) 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 date and time 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.

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3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 255.255.255.255 and in broadcast form. GPS Ethernet Header: 42 bytes Field Ethernet II MAC Ethernet Data Packet Type Internet Protocol UDP Port Number UDP Length UDP Checksum Bytes Description 12 2 20 4 2 2 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, 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

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3.2.2 UDP Data GPS UDP data: 512 bytes Field Bytes Description GPS Time Data 18 Header 2 bytes 0xFFEE, 0xFF first Date Time 6 bytes Year, month, and day (2 bytes each, lower byte first) in ASCII 6 bytes Second, minute, and hour (2 bytes each, lower byte first) in ASCII GPRMC/GPGGA Data 100 NMEA sentence that contains date and time Reserved 4 bytes

Reserved GPS Positioning Status 388 1 ASCII code, valid till 2 bytes after the asterisk (*) The lidar can receive either GPRMC or GPGGA, see Chapter 4 (Web Control - Settings) 388 bytes of 0xDF ASCII code, obtained from $GPRMC or $GPGGA When $GPRMC is selected:

When $GPGGA is selected:

A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 6 = estimated (dead reckoning) PPS Lock Flag Reserved 1 4 1 - locked 0 - unlocked

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GPRMC Data Format

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

Field Description

<01>

UTC Time Hour, minute, and second

<02>

Location Status A (hex = 41) for Valid Position Typically in hhmmss (hour, minute, second) format V (hex = 56) for Invalid Position NUL (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 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

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GPGGA Data Format

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

Field Description

<01>

UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format

<06>

GPS Fix Quality 0 = invalid 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 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

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3.2.3 GPS Data Analysis Date Field Year Figure 3.3 GPS Data Packet - UDP Data (Example) Data (ASCII Code) Characters Meaning 0x30 0x32 Month 0x34 0x30 Day 0x37 0x30 Time

'0', '2'

'4', '0'

'7', '0'

20 04 07 Field Data (ASCII Code) Characters Meaning Second 0x38 0x35 Minute 0x37 0x30 Hour 0x34 0x30

'8', '5'

'7', '0'

'4', '0'

58 07 04 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

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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 Google Chrome and Mozilla Firefox are recommended.

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4.1 Home Button Device Log Status Spin Rate GPS NMEA (GPRMC/GPGGA) PTP Device Info Model S/N MAC Address Software Version Sensor Firmware Version 600 rpm Unlock Unlock Free Run Device Log PandarXT-16 XTXXXXXXXXXXXXXX XX:XX:XX:XX:XX:XX 1.0.10 1.5.7 Controller Firmware Version 1.2.7 Description Click to download a .JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log.

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Parameter Spin Rate GPS Description Spin Rate of the motor (rpm) = frame rate (Hz) * 60 GPS (PPS) status Lock Unlock Lidar's internal clock is in sync with GPS PPS Not in sync NMEA NMEA status

(GPRMC/GPGGA) PTP Lock Unlock PTP status Free Run Tracking After receiving a valid NMEA message Not receiving a valid NMEA message for over 2 s No PTP master is selected. 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.

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4.2 Settings Control IP IPv4 Address IPv4 Mask IPv4 Gateway VLAN Settings Destination IP Lidar Destination Port Spin Rate Return Mode Sync Angle Trigger Method Clock Source GPS Mode GPS Destination Port Reset All Settings 192.168.1.201 255.255.255.0 192.168.1.1 0 255.255.255.255 2368 600 rpm Last and Strongest 0 Angle Based GPS GPRMC 10110

(Continued on the next page)

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Interstitial Points Filtering Reflectivity Mapping Standby Mode

(Continued) OFF Linear Mapping 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 execute all the settings on this page. Exception: Standby Mode takes effect immediately without having to click "Save".

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4.2.1 Network Settings Parameter VLAN Options Default: OFF Description To enable VLAN tagging:

VLAN ID: 1 ~ 4094 Make sure the receiving host also supports VLAN. Check the checkbox and input the lidar's VLAN ID (same as the receiving host's VLAN ID). 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 zero (invalid value) by default. When checking the checkbox, users will be alerted to input a valid VLAN ID. When unchecking the checkbox, the VLAN ID will default to zero. Notes Once configured, the VLAN ID does not change during firmware upgrades. When VLAN is enabled, PTP connection will be lost; when VLAN is disabled, PTP connection will automatically recover. Destination IP Any address except for 0.0.0.0, 127.0.0.1, and the Mode Destination IP lidar's IP. Default: 255.255.255.255 Broadcast (default) 255.255.255.255 Multicast Unicast User-defined Same as the PC's IP address

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4.2.2 Function Settings Parameter Spin Rate Options Description 600 RPM (default) The set spin rate is also shown on web control (see Section 4.1 Web Control 1200 RPM Home). Return Mode Single Return Also shown in Point Cloud Data Packets (see the Return Mode field in Section 3.1.2 Last / Strongest / First Point Cloud UDP Data). Dual Return Last and Strongest (default) Last and First First and Strongest Sync Angle 0 to 360 Phase lock angle To activate this function, check the checkbox and input an azimuth. At every full second, the lidar will rotate to that azimuthal position (see Section 1.2 Lidar Structure). Definition of full second When GPS is locked: the rising edge of the GPS PPS signal When PTP is tracking or locked: retrieved from the PTP master clock When neither GPS nor PTP is locked: the rising edge of the lidar's internal 1 Hz signal Detailed in Appendix II (Absolute Time of Point Cloud Data) To phase-lock multiple lidars:

Connect the lidars to the same clock source and set the same sync angle, and these lidars will rotate to that same azimuthal position at every full second.

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Parameter Options Description Trigger Method Angle-Based (default) The way laser firings are triggered. Time-Based Angle-based Lasers fire every 0.09 at 5 Hz, 0.18 at 10 Hz, or 0.36 at 20 Hz.. Time-based Lasers fire every 50 s Interstitial Points OFF (default) To mitigate the interstitial points. Filtering ON Definition of interstitial points: when a beam partially hits on a front target's edge Reflectivity Mapping Linear (default) Nonlinear Mapping Linear The Reflectivity field in Point Cloud Data Packets linearly and further hits on a rear target, the return signal can result in a false point located between both targets. Standby Mode In Operation (default) In Standby mode, the motor stops running and lasers stop firing. represents target reflectivity (0 to 255%). Nonlinear Increases the contrast in low-reflectivity regions (see Appendix IV Nonlinear Reflectivity Mapping). Standby

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4.2.3 Time Settings Clock Source GPS Mode GPS Destination Port Clock Source Profile Time Offset for Lidar Lock PTP Network Transport PTP Domain Number PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval GPS GPRMC 10110 PTP 1588v2 1 UDP/IP 0 1 1 0 Parameter Options Description Clock Source GPS (default) External source of absolute time PTP

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With GPS Selected Parameter GPS Mode Options Description GPRMC (default) Format of the NMEA data received from the external GPS module (see Section 3.2.2 GPS GPGGA UDP Data) Require PPS Lock ON (default) When this setting is ON, PPS must be locked (in addition to NMEA being locked) when OFF updating the lidar's Date & Time. The status of both NMEA and PPS signals are shown in Section 4.1 (Home). The complete logic is shown in the table. PPS locked PPS unlocked NMEA Update Date & Time using the When "Require PPS Lock" is locked current NMEA sentence. OFF, update Date & Time using the current NMEA Update the s Timestamp sentence. using the current PPS signal. When "Require PPS Lock" is ON, do nothing. NMEA Update the s Timestamp Do nothing. unlocked using the current PPS signal. Note Date & Time: the lidar's system time, accurate to the second. s Timestamp: the s part of the lidar's system time. Destination Port Default: 10110 Port used for sending GPS Data packets

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With PTP Selected The lidar does not output GPS Data Packets. Parameter Profile Options Description 1588v2 (default) IEEE timing and synchronization standard 802.1AS 802.1AS Automotive Time Offset for Lidar 1 to 100 s (integer) Specify the upper limit of the absolute offset between Slave and Master when the lidar Lock Default: 1 is in PTP Locked status; see Section 4.1 (Home) PTP Network UDP/IP (default) Network transport protocol Transport L2 UDP/IP Available only for 1588v2 profile L2 Available for all profiles Domain Number 0 to 127 (integer) Domain attribute of the local clock Default: 0 When using the 1588v2 profile:

Parameter PTP Options

-2 to 3 Description Time interval between Announce messages logAnnounceInterval Default: 1 Default: 1 log second (2 seconds) PTP

-7 to 3 Time interval between Sync messages logSyncInterval Default: 1 Default: 1 log second (2 seconds) PTP

-7 to 3 Minimum permitted mean time between Delay_Req messages logMinDelayReqInterval Default: 0 Default: 0 log second (1 second)

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4.3 Azimuth FOV Button Save Description Save and execute all the settings on this page. Parameter Options Description Azimuth FOV Setting For all channels (default) Configuration mode of the azimuth FOV. Multi-section FOV The lidar outputs valid data only within the specified azimuth FOV ranges. Note The angles in degrees are accurate to the first decimal place. 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).

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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.

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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.

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4.4 Operation Statistics These operating parameters are shown in real time:

Start-Up Counts Internal Temperature 510 32.10 Total Operation Time 559 h 43 min Internal Temperature Operation Time

< -40

-40 to -20

... 100 to 120

>120 0 h 1 min 0 h 46 min

... 1 h 44 min 0 h 0 min

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4.5 Upgrade Preparation Please contact Hesai technical support to receive encrypted and signed upgrade files. During the upgrade, it is recommended to place a protective cover (supplied with the lidar) or other opaque material over the lidar's cover lens. Upgrade 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 the Upgrade Log. Button Restart Description Software reboot Afterwards, the Start-Up Counts in the Operation Statistics page increments by 1. Parameter Software Version Firmware of Sensor Version Firmware of Controller Version Upgrade Log Current Value 1.0.10 1.5.7 1.2.7

The above version numbers may be different from the actual. Please refer to the web page of the lidar used.

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5 Communication Protocol To acquire Hesai lidar's PTC (Pandar TCP Commands) and HTTP API Reference Manual, please contact Hesai technical support.

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6 Sensor Maintenance Cleaning Stains on the product's cover lens, such as dirt, fingerprints, and oil, can negatively affect point cloud data quality. Please perform the following steps to remove the stains. Warnings Turn OFF the power source before cleaning. To avoid damaging the optical coating, do NOT apply pressure when wiping the cover lens. Notes Only clean the stained area of the cover lens. Check before 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 lint-free wipe to lightly brush across the dusty area. To remove persistent stains, move on to the next step. 3) Spray the cover lens with warm, neutral solvent using a spray bottle. Solvent type Soft sponge with a mild soap solution Solvent temperature 20 to 25

(Continued on the next page) Mild soap solution: maximum two tablespoons of neutral soap in 1 quart (1 liter) of water.

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(Continued) 4) When the stains have loosened, dip a piece of lint-free wipe into the solvent made in Step 3, and gently wipe the cover lens back and forth along its surface. 5) Should another cleaning agent be applied to remove certain stains, repeat Steps 3 and 4. 6) Spray the cover lens with clean water, and gently wipe off the remaining liquid with another piece of lint-free wipe.

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7 Troubleshooting In case the following procedures cannot solve the problem, please contact Hesai technical support. Symptoms Points to Check Verify that:

Indicator light is off on connection box is intact;

power adapter is properly connected and in good condition;

the connection box input voltage and current satisfy the requirements in Section 2.3 (Connection Box). Power on again to check if the symptom persists. Verify that:

power adapter is properly connected and in good condition;

if a connection box is used, the connection box is intact;

Motor is not running input voltage and current satisfy the requirements in Section 1.4 (Specifications) and 2.3 (Connection Box);

web control can be accessed (see "cannot open web control" on the next page);

the lidar is not in standby mode (see Section 4.2 Web Control Settings). Power on again to check if the symptom persists.

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Symptoms Points to Check Verify that:

Ethernet cable is properly connected (by unplugging and plugging again);

Motor is running but Lidar's Destination IP is correctly set on the Settings page of web control;

no output data is horizontal FOV is properly set on the Azimuth FOV page of web control;

received, neither on firmware version of the sensor is correctly shown on the Upgrade page of web control;

Wireshark nor on Lidar is emitting laser light. This can be checked by using an infrared camera, an infrared sensor card, or a phone PandarView camera without infrared filter. Power on again to check if the symptom persists. Verify that:

Can receive data on Wireshark but not on PandarView Lidar Destination Port is correctly set on the Settings page of web control;

PC's firewall is disabled, or that PandarView 2 is added to the firewall exceptions;

PC's VLAN ID is the same as the lidar's; (NOTE This requirement applies only when the product model supports VLAN and that VLAN tagging is enabled.) the latest version of PandarView 2 is installed on the PC. Power on again to check if the symptom persists.

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Symptoms Points to Check Verify that:

Cannot open web control Ethernet cable is properly connected (by unplugging and plugging again);

Lidar's IP is in the same subnet with the PC's. Users may use WireShark to check the lidar's IP that broadcasts data packets;

PC's VLAN ID is the same as the lidar's. (NOTE This requirement applies only when the product model supports VLAN and that VLAN tagging is enabled.) Afterwards:

restart PC, or connect the lidar to another PC;

power on again to check if the symptom persists. Verify that:

horizontal FOV is properly set on the Azimuth FOV page of web control;

motor's spin rate is steady on the Home 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;

Abnormal packet size no switch is connected into the network. The data transmitted from other devices may cause network

(missing packets) congestion and packet loss. Afterwards:

connect the PC only to the lidar and check for packet loss;

power on again to check if the symptom persists.

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Symptoms Points to Check Verify that:

Lidar's cover lens is clean. If not, refer to Section 6 (Sensor Maintenance) for the cleaning method;

Lidar's calibration file is imported; see PandarView 2 User Manual (Use);

horizontal FOV is properly set on the Azimuth FOV page of web control;

motor's spin rate is steady on the Home page of web control;

Abnormal point cloud Lidar's internal temperature is between -20 and 95 on the Operation Statistics page of web control.

(obviously misaligned points, flashing Afterwards, check for packet loss:

points, or incomplete If no packet is missing and yet the point cloud flashes, please update PandarView 2 to the latest version (see the FOV) Download page of Hesai's official website or contact Hesai technical support) and restart the PC. If the point cloud is still abnormal:

try connecting the lidar to another PC;

power on again to check if the symptom persists. Verify that:

GPS receiver is properly connected;

PPS signal is connected to the lidar;

GPS cannot be locked Destination GPS Port is correct on the Settings page of web control;

input GPS signals satisfy the electrical requirements in Section 2.2 (Interface) and Section 2.3.1 (Connection Box). Power on again to check if the symptom persists;

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Appendix I Channel Distribution Data The Vertical Angles (Elevation) in the table below are design values. The accurate values are in this lidar's unit's calibration file, see Section 1.3 (Channel Distribution) and Section 3.1.3 (Point Cloud Data Analysis). Channel #

in UDP Data 01 (Top) 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 (Bottom) Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters)

(Azimuth)

(Elevation)

(in meters) with Reflectivity 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15 13 11 9 7 5 3 1

-1

-3

-5

-7

-9

-11

-13

-15

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120 120 120 120 120 120 120 120 120 120 120 120 120 120 120 120 50@10%

50@10%

50@10%

50@10%

80@10%

80@10%

80@10%

80@10%

80@10%

80@10%

80@10%

80@10%

50@10%

50@10%

50@10%

50@10%

Appendix II Absolute 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 (Web Control - Settings).

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1) GPS as the Clock Source The lidar connects to a third-party GPS module to obtain the PPS (pulse-per-second) signal and the NMEA sentence ($GPRMC or $GPGGA). Users may select either $GPRMC or $GPGGA sentences (see Section 4.2 Web Control Settings). Users may check the signal status of GPS PPS and NMEA (see Section 4.1 Web Control - Home). The timing requirements of PPS and NMEA are shown in Section 2.2.1 (Pin Description). Each rising edge of the lidar's internal 1 Hz signal triggers a GPS Data Packet. The data format is detailed in Section 3.2 (GPS Data Packet). The absolute time is updated as follows. NMEA status Date & Time Lidar behavior

(accurate to the second) Unlocked Virtual Starts counting from a virtual UTC time (such as 2000-01-01 00:00:00) using the lidar's internal 1 Hz Locked Synchronized At each rising edge of the internal 1 Hz signal, obtain the actual date and time by signal. extracting the date and time from the previous NMEA message, and automatically adding 1 full second. If the "Require PPS Lock" switch is ON (see Section 4.2 Web Control Settings):

Only when both NMEA and PPS signals are locked will the Date & Time (accurate to the second) be synchronized; otherwise, GPS signal status is deemed not good enough, and the Date & Time will remain unsynchronized. Lost Drifting Starts counting from the last synchronized time, using the lidar's internal 1 Hz signal. Will gradually drift from the actual GPS time. PPS status s time Description

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Unlocked Not synchronized Locked Synchronized The lidar's internal 1 Hz signal is not aligned with the GPS second. The rising edge of the lidar's internal 1 Hz signal is aligned with the rising edge of the PPS signal (i.e. Lost Drifting Counts using the internal 1 Hz signal. the start of each GPS second). Will gradually drift from the actual GPS second.

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2) PTP as the Clock Source The lidar connects to a third-party PTP master to obtain the absolute time. Users may configure the PTP settings (see Section 4.2 Web Control Settings). Users may check the PTP signal status (see Section 4.1 Web Control - Home). The lidar does not output GPS Data Packets. The absolute time is updated as follows. PTP Status Date & Time Description

(accurate to s) Free Run Virtual Starts counting from a virtual UTC time (such as 2000-01-01 00:00:00), using the lidar's internal 1 Tracking or Synchronized Extract the actual date and time from the PTP Master's messages. Hz signal. Locked Frozen Notes Drifting Starts counting from the last synchronized time, using the lidar's internal 1 Hz signal. Will gradually drift from the actual PTP time. PTP is a Plug & Play protocol; the lidar works as a PTP slave device and requires no additional setup. The timestamps and Date & Time fields in 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.

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Absolute Time of Point Cloud Data Packets The absolute time of a Point Cloud Data Packet (denoted as t0) is calculated as follows:

t0 = t_s + t_ms where t_s is the whole second part (see the Date & Time field). t_ms is the microsecond part (see the Timestamp field). For definition of the above fields (see Section 3.1.2 Point Cloud UDP Data Tail). Start Time of Each Block Given the absolute time of a Point Cloud Data Packet (t0), the start time of each block (i.e., the time when the first firing starts) can be calculated. Single Return Mode Dual Return Mode Block Block 8 Block N Block 3 Block 2 Block 1 Block Start Time (s) t0 + 5.632 t0 + 5.632 - 50 * (8 - N) t0 + 5.632 - 50 * 5 t0 + 5.632 - 50 * 6 t0 + 5.632 - 50 * 7 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

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Firing Time Offset of Each Channel Assume that the start time of Block m is T(m), m {1, 2, ..., 8}, then the laser firing time of Channel n in Block m is t(m, n) = T(m) + t(n), n {1, 2, , 16}. In each round of firing, the firing sequence is from Channel 1 to Channel 16. The firing time offset in units of s:

t(n) = 3.024 * (n-1) + 0.368

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Appendix III Power Supply Requirements Input Voltage To ensure that the input voltage at the lidar's Lemo connector is 9 to 36 V DC, please check the specifications of the power source and the voltage drop over cables. We recommend using 26 AWG cables, which is the thickest wire gauge supported by the lidar Define the cable length from the power source to the lidar's Lemo connector as L (unit: m) When using 26 AWG cables, 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 (235C) can be estimated:

2 40 2 Users may also estimate the cable voltage drop using the following lookup table. When cable length exceeds 10 m, source voltage should be at least 24 V. Estimation of Cable Voltage Drop Cable Total Length L Source Voltage = 12 Source Voltage = 24 Source Voltage = 36 1.5 m 2 m 5 m 10 m 0.39 V 0.52 V 1.42 V 3.55 V (lidar's input voltage < 9 V) 0.19 V 0.25 V 0.64 V 1.32 V

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0.13 V 0.17 V 0.42 V 0.85 V When the lidar's input voltage approaches 36 V, make sure there is no additional overshoot in the external power system. Even a short period of overvoltage can cause irreversible damage to the lidar. Power Consumption The lidar's peak power consumption is below 30 W in all operating conditions. After a power-on in an ambient temperature of 0 or below, power consumption typically remains around 15 W for a period of time. When setting the frame rate to 20 Hz, power consumption 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 During a power-up, the voltage requirements are charted in Figure IV.1 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

U0 0.9U0

<1 V 0 t/ms

>50 ms

<500 ms Figure IV.1 Voltage Requirements during a Power-Up 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.

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Appendix IV Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in Point Cloud Data Packets linearly represents target reflectivity from 0 to 255%. Alternatively, users may choose the Nonlinear Mapping mode (see Section 4.2 Web Control - Settings). The nonlinear relationship is detailed below. 300 250 200 150 100 50 0

y t i v i t c e l f e R l a u t c A 0 50 100 150 200 250 300 Reflectivity Index (0 to 255)

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Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Nonlinear Reflectivity Mapping (Continued on the Next Page)

(0 to 255) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

(%) 0 2.89 4.08 5 5.77 6.45 7.07 7.64 8.16 8.66 9.13 9.57 10 10.41 10.8 11.18 11.55 11.9 12.25 12.58

(0 to 255) 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39

(0 to 255) 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59

(%) 12.91 13.23 13.54 13.84 14.14 14.43 14.72 15 15.28 15.57 15.86 16.16 16.46 16.77 17.09 17.42 17.75 18.1 18.45 18.82

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(%) 19.2 19.59 20 20.43 20.87 21.34 21.84 22.36 22.93 23.55 24.23 25 25.92 27.09 28.22 29.35 30.47 31.6 32.73 33.86

(0 to 255) 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79

(%) 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 Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Nonlinear Reflectivity Mapping (Continued on the Next Page)

(0 to 255) 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99

(%) 57.56 58.69 59.82 60.95 62.08 63.21 64.33 65.46 66.59 67.72 68.85 69.98 71.11 72.23 73.36 74.49 75.62 76.75 77.88 79.01

(0 to 255) 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119

(0 to 255) 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139

(%) 80.14 81.26 82.39 83.52 84.65 85.78 86.91 88.04 89.16 90.29 91.42 92.55 93.68 94.81 95.94 97.07 98.19 99.32 100.45 101.58

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(%) 102.71 103.84 104.97 106.09 107.22 108.35 109.48 110.61 111.74 112.87 114 115.12 116.25 117.38 118.51 119.64 120.77 121.9 123.02 124.15

(0 to 255) 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159

(%) 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 Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Nonlinear Reflectivity Mapping (Continued on the Next Page)

(0 to 255) 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179

(%) 147.86 148.98 150.11 151.24 152.37 153.5 154.63 155.76 156.88 158.01 159.14 160.27 161.4 162.53 163.66 164.79 165.91 167.04 168.17 169.3

(0 to 255) 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199

(0 to 255) 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219

(%) 170.43 171.56 172.69 173.81 174.94 176.07 177.2 178.33 179.46 180.59 181.72 182.84 183.97 185.1 186.23 187.36 188.49 189.62 190.74 191.87

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(%) 193 194.13 195.26 196.39 197.52 198.65 199.77 200.9 202.03 203.16 204.29 205.42 206.55 207.67 208.8 209.93 211.06 212.19 213.32 214.45

(0 to 255) 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239

(%) 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 Nonlinear Reflectivity Mapping (Continued) Reflectivity Index Reflectivity

(0 to 255) 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255

(%) 238.15 239.28 240.41 241.53 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08

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Appendix V Legal Notice Copyright (C) 2017-2023 Hesai Technology Co., Ltd. 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 Hesai's 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. Hesai Product Warranty Service Manual is on the Warranty Policy page of Hesai's official website: https://www.hesaitech.com/warranty-policy/

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Hesai 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 Wechat FCC warning statements:

This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

Reorient or relocate the receiving antenna. Increase the separation between the equipment and receiver. Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. Consult the dealer or an experienced radio/TV technician for help. Caution: Any changes or modifications to this device not explicitly approved by manufacturer could void your authority to operate this equipment. This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. The device has been evaluated to meet general RF exposure requirement This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance 20cm between the radiator & your body.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

4.5cm 2.5cm FCC ID: SY4-A02048 Shanghai Huace Navigation Technology Ltd. Product name: Surveying System This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Label Location

 

 

Shanghai Huace Navigation Technology Ltd. Agent Authorization Company: Shanghai Huace Navigation Technology Ltd. Address: 577 Songying Road, Qingpu District, 201706 Shanghai, China Product Name: Surveying System Model Number(s): RS10 Product Description: Surveying System We authorize MiCOM Labs Inc., 575 Boulder Court, Pleasanton, California 94566, USA, to act on our behalf on all matters concerning the certification of above named equipment. We declare that MiCOM Labs Inc. is allowed to forward all information related to the approval and certification of equipment to the regulatory agencies as required and to discuss any issues concerning the approval application. Any and all acts carried out by MiCOM Labs on our behalf shall have the same effect as acts of our own. Signature:

Name:

Glenn Chu Title:

Certificate Manager Company: Shanghai Huace Navigation Technology Ltd. Date: 2024-03-16

 

 

Shanghai Huace Navigation Technology Ltd. Section 2.911(d)(5)(i) Certification Equipment Type Company name: Shanghai Huace Navigation Technology Ltd. Address: 577 Songying Road, Qingpu District, 201706 Shanghai, China Product Name: Surveying System FCC ID: SY4-A02048 Model(s): RS10 2.911(d)(5)(i) Equipment Type We, [Shanghai Huace Navigation Technology Ltd.] (the applicant) certify that the equipment for which authorization is sought through certification is not:

Prohibited from receiving an equipment authorization pursuant to 2.903; of the FCC rules. Identified as an equipment type in the Covered List NOTE 1 Yours sincerely, Name: Glenn Chu Title and Company name: Certificate Manager Shanghai Huace Navigation Technology Ltd. NOTE 1 Date: March 16, 2024 Covered List; is the List of Equipment and Services Covered By Section 2 of The Secure Networks Act, available at https://www.fcc.gov/supplychain/coveredlist References;

1) 986446 D01 Covered Equipment v01 https://apps.fcc.gov/oetcf/kdb/forms/FTSSearchResultPage.cfm?switch=P&id=325672 2) Federal Register document 2022-28263 published on 02/06/23 https://www.federalregister.gov/documents/2023/02/06/2022-28263/protecting-against-national-security-threats-to-the-com munications-supply-chain-through-the 2.911 (d)(5)(i) Equipment Type Attestation v1.2

 

 

Shanghai Huace Navigation Technology Ltd. Section 2.911(d)(5)(ii) Certification Applicant (Covered List ) Company name: Shanghai Huace Navigation Technology Ltd. Address: 577 Songying Road, Qingpu District, 201706 Shanghai, China Product Name: Surveying System FCC ID: SY4-A02048 Model(s): RS10 2.911(d)(5)(ii) Applicant filing We, [Shanghai Huace Navigation Technology Ltd.] (the applicant) certify that, as of the date of the filing of the application, the applicant is not identified NOTE 1 on the Covered List NOTE 2, established pursuant to 1.50002 of this chapter, as an entity producing covered communications equipment. Yours sincerely, Name: Glenn Chu Date: March 16, 2024 Title and Company name: Certificate Manager Shanghai Huace Navigation Technology Ltd. NOTE 1 Delete option not applicable to this application. NOTE 2 Covered List; is the List of Equipment and Services Covered By Section 2 of The Secure Networks Act, available at https://www.fcc.gov/supplychain/coveredlist References;

1) 986446 D01 Covered Equipment v01 https://apps.fcc.gov/oetcf/kdb/forms/FTSSearchResultPage.cfm?switch=P&id=325672 2) Federal Register document 2022-28263 published on 02/06/23 https://www.federalregister.gov/documents/2023/02/06/2022-28263/protecting-against-national-security-threats-to-the-com munications-supply-chain-through-the 2.911 (d)(5)(ii) Applicant Attestation v1.3

 

 

Shanghai Huace Navigation Technology Ltd. Office of Engineering Technology Federal Communications Commission 7435 Oakland Mills Road Columbia, MD 21046 Date: 2024-03-16 Subject; Request for Long Term Confidentiality FCC ID: SY4-A02048 To Whom It May Concern, Pursuant to the provisions of the Commissions rules Title 47 Sections 0.457 and 0.459, we are requesting the Commission to withhold the following attachment(s) as confidential documents from public disclosure indefinitely. These documents contain detailed system and equipment descriptions and are considered as proprietary information in operation of the equipment. The public disclosure of these documents might be harmful to our company and would give competitors an unfair advantage in the market. Schematic Diagram Block Diagram Operational Description software security requirement It is our understanding that all measurement test reports, FCC ID label format and correspondence during the certification review process cannot be granted as confidential documents and this information will be available for public review once the grant of equipment authorization is issued. Sincerely, Signature:

Name: Glenn Chu Title: Certificate Manager

 

 

Shanghai Huace Navigation Technology Ltd. FCC Software Configuration Control Declaration Date: March 16, 2024 Federal Communications Commission 7435 Oakland Mills Road Columbia, MD 21046 USA Attn: OET Dept. Product/ Model Number: Surveying System / RS10 Regarding FCC Country Code Selection guidelines identified in KDB 594280. All applications for equipment authorization for transmitters that can have radio parameters, or other technical parameters, reported to the Commission set by software must have an attestation indicating that no third party will have software, or configuration control, to program the device out of compliance of the technical rules under which it has been certified. We declare that no third party will have software, or configuration control, to program the device out of compliance of the technical rules under which it has been certified. Name: Glenn Chu Title: Certificate Manager Date: March 16, 2024 Signature of applicant FCC Software Configuration Control Declaration Rev1.1

 

 

Shanghai Huace Navigation Technology Ltd. Letter of Authorization Company: Shanghai Huace Navigation Technology Ltd. Address: 577 Songying Road, Qingpu District, 201706 Shanghai, China Product Name: Surveying System Model Number(s): RS10 We authorize MiCOM Labs Inc., 575 Boulder Court, Pleasanton, California 94566, USA, to act on our behalf on all matters concerning the certification of above named equipment. We declare that MiCOM Labs Inc. is allowed to forward all information related to the approval and certification of equipment to the regulatory agencies as required and to discuss any issues concerning the approval application. Any and all acts carried out by MiCOM Labs on our behalf shall have the same effect as acts of our own. Signature:

Name:

Glenn Chu Title:

Certificate Manager Company: Shanghai Huace Navigation Technology Ltd. Date: 2024-03-16

 

 

 

 

 

 

 

 

 

 

 

 

 

 

COMPANY LETTERHEAD U.S. Agent Designation for Service of Process -

Certification Attestation Letter DATE ATTN.: Reviewing Engineer FCC ID: SY4-A02048 FRN: 0022641393 Per section 2.911(d)(7) of the FCC rules, Shanghai Huace Navigation Technology Ltd.

(the applicant) certifies that the equipment for which authorization is sought is designated to the following U.S. agent* for service of process:

Company Name: iGage Mapping Corporation FRN: 0013933296 Physical U.S. Company Address: 1545 South 1100 East #1, Salt Lake City, UT 84105, United States Agent name: Mark E Silver Agent Email Address: ms@igage.com The above contact person accepts the obligation for service of process. The applicant accepts to maintain an agent for no less than one year after the grantee has terminated all marketing and importation or the conclusion of any Commission-related proceeding involving the equipment. Applicant Signed:

Agent Signed (if different to Applicant):

Signed:

Printed name: Glenn Chu Title: Certification Manager Company Name: Shanghai Huace Navigation Technology Ltd. Date: 3/16/2024 Signed:

Printed name: Mark E Silver Title: President Company Name: iGage Mapping Corporation Date: 3/16/2024

* the applicant must designate a contact located in the United States for purposes of acting as the applicants agent for service of process, regardless of whether the applicant is a domestic or foreign entity. An applicant located in the United States may designate itself as the agent for service of process.