Hesai Pandar40P User manual

www.hesaitech.com
Pandar40P
40-Channel
Mechanical LiDAR
User Manual
HESAI Wechat

Doc Version: 402-en-2002A2
Contents
Safety Notice.............................................................................................. 1
1Introduction........................................................................................... 4
1.1 Operating Principle........................................................................ 4
1.2 LiDAR Structure .............................................................................. 5
1.3 Channel Distribution...................................................................... 6
1.4 Specifications................................................................................. 7
2Setup...................................................................................................... 8
2.1 Mechanical Installation.................................................................. 8
2.2 Interfaces ...................................................................................... 12
2.3 Connection Box (Optional) .......................................................... 14
2.4 Get Ready to Use .......................................................................... 17
3Data Structure...................................................................................... 18
3.1 Point Cloud Data Packet .............................................................. 19
3.2 GPS Data Packet........................................................................... 24
4Web Control ......................................................................................... 30
4.1 Home ............................................................................................ 31
4.2 Settings......................................................................................... 32
4.3 Azimuth FOV ................................................................................. 35
4.4 Operation Statistics......................................................................38
4.5 Upgrade ........................................................................................39
5PandarView.......................................................................................... 41
5.1 Installation....................................................................................41
5.2 Use.................................................................................................42
5.3 Features ........................................................................................45
6Communication Protocol .................................................................... 50
7Sensor Maintenance ............................................................................ 51
8Troubleshooting .................................................................................. 53
Appendix I Channel Distribution ............................................................. 56
Appendix II Absolute Time and Laser Firing Time ................................... 59
Appendix III PTP Protocol........................................................................ 62
Appendix IV Phoenix Contact .................................................................. 64
Appendix V Nonlinear Reflectivity Mapping ............................................ 65
Appendix VI Certification Info.................................................................. 70
Appendix VII Support and Contact .......................................................... 71

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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 product. The
product must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the product. For repairs
and maintenance inquiries, please contact an authorized Hesai Technology service provider.
■ Laser Safety Notice - Laser Class 1
This device satisfies the requirements of
· IEC 60825-1:2014
· 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
NEVER LOOK INTO THE TRANSMITTING LASER THROUGH A MAGNIFYING DEVICE (MICROSCOPE, EYE LOUPE, MAGNIFYING GLASS, ETC.)

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■ Safety Precautions
In all circumstances, if you suspect that the product 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 product disposal.
Handling
This product contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing,
and squeezing may cause damage to the product.
In case the product is dropped, STOP using the product immediately and contact Hesai technical support.
Enclosure
This product contains high-speed rotating parts. To avoid potential injuries, DO NOT operate the product if the enclosure is loose or damaged.
To ensure optimal performance, do not touch the product's enclosure with bare hands. If the enclosure is already stained, please refer to the
cleaning method in the Sensor Maintenance chapter of user manuals.
Eye Safety
Although the product meets Class 1 eye safety standards, DO NOT look into the transmitting laser through a magnifying product (microscope,
eye loupe, magnifying glass, etc.). For maximum self-protection, avoid looking directly at the product when it is in operation.
Repair
DO NOT open and repair the product without direct guidance from Hesai Technology. Disassembling the product 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 product's power requirements
and 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.

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Prolonged Contact with Hot Surface
Prolonged contact with the product's hot surface may cause discomfort or injury. If the product has been powered on and operating for a long
time, avoid skin contact with the product and its power adapter.
Vibration
Strong vibration may cause damage to the product and should be avoided. If you need the mechanical vibration and shock limits of this
product, please contact Hesai technical support.
Radio Frequency Interference
Please observe the signs and notices on the product that prohibit or restrict the use of electronic devices. Although the product is designed,
tested, and manufactured to comply with the regulations on RF radiation, the radiation from the product may still influence other electronic
devices.
Medical Device Interference
Some components in the product 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(s) and whether you need to keep a safe distance from the product. If you suspect that the product is interfering with your medical device,
stop using the product immediately.
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. Exposing the product to high concentrations of industrial
chemicals, including liquefied gases that are easily vaporized (such as helium), can damage or weaken the product's function. Please observe
all the signs and instructions on the product.
Light Interference
Some precision optical instruments may be interfered by the laser light emitted from the product.

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1Introduction
This manual describes the specifications, installation, and data output format of Pandar40P.
This manual is under constant revision. To obtain the latest version, please visit the Download page of Hesai's official website, or contact Hesai
technical support.
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 diffusely 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.
𝑑 = 𝑐𝑡
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
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 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 1.6 on the next page. All measurements are relative to the origin.
Each laser channel has an intrinsic horizontal angle offset. When Channel 12 passes the zero-degree position in Figure 1.4, the azimuth data in
the corresponding UDP data block will be 0°.

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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 (Unit: mm)
Each channel has an intrinsic angle offset, both horizontally and vertically.
The offsets are recorded in this LiDAR unit's calibration file, which is provided when shipping the unit.
In case you need to obtain the file again:
· Send this TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION , as described in Hesai TCP API Protocol (Chapter 6).
· Or contact a sales representative or technical support engineer from Hesai.

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1.4 Specifications
SENSOR
MECHANICAL/ELECTRICAL/OPERATIONAL
Scanning Method
Mechanical Rotation
Wavelength
905 nm
Channel
40
Laser Class
Class 1 Eye Safe
Range
0.3 to 200 m (at 10% reflectivity)
Ingress Protection
IP6K7
Range Accuracy
±5 cm (0.3 to 1 m)
Dimensions
Height: 116.7 mm
±2 cm (1 to 200 m)
Top/Bottom Diameter: 118.0 / 116.0 mm
FOV (Horizontal)
360°
Operating Voltage
DC 9 to 48 V
Resolution (Horizontal)
0.2° (10 Hz), 0.4° (20 Hz)
Power Consumption
18 W
FOV (Vertical)
40° (-25° to +15°)
Operating Temperature
-20℃ to 65℃
Resolution (Vertical)
0.33° (-6° to +2°)
Weight
1.52 kg
1° (+2° to +3°, -14° to -6°)
DATA I/O
2° (+3° to +5°)
Data Transmission
UDP/IP Ethernet (100 Mbps)
3° (+5° to +11°)
Data Outputs
Distance, Azimuth Angle, Intensity
4° (+11° to +15°)
Data Points Generated
Single Return: 720,000 points/sec
5° (-19° to -14°)
Dual Return: 1,440,000 points/sec
6° (-25° to -19°)
Clock Source
GPS / PTP
Frame Rate
10 Hz, 20 Hz
PTP Clock Accuracy
≤1 μs
Returns
Single Return (Last, Strongest)
PTP Clock Drift
≤1 μs/s
Dual Return (Last and Strongest)
CERTIFICATIONS
CE, FCC, FDA, IC, EAC, KCC
Class 1 Laser Product
NOTE Specifications are subject to change. Please refer to the latest version.
NOTE Range accuracy as the average range error across all channels may vary with range, temperature, and target reflectivity.

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2Setup
2.1 Mechanical Installation
Figure 2.1 Front View (Unit: mm)

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Figure 2.2 Bottom View (Unit: mm)

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■ Quick Installation
Figure 2.3 Quick Installation

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■ Stable Installation
Figure 2.4 Stable Installation

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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 plug, on the LiDAR)
From the eye to
the interface
Figure 2.5 Lemo Connector (Male Plug)
Pin #
Signal
Color
Voltage
Pin #
Signal
Color
Voltage
1 ~ 4
-
-
-
11
P12V
RED
12 V
5
Ethernet RX-
BLUE
-1 V to 1 V
12
P12V
GRAY
12 V
6
Ethernet RX+
BLUE/WHITE
-1 V to 1 V
13
Ground (Return)
BLACK
0
7
Ethernet TX-
ORANGE
-1 V to 1 V
14
Ground (Return)
GRAY/WHITE
0
8
Ethernet TX+
ORANGE/WHITE
-1 V to 1 V
15
-
PURPLE
-
9
GPS Serial Data
WHITE
-13 V to +13 V
16
-
PURPLE/WHITE
-
10
GPS PPS
YELLOW
TTL level 3.3 V/5 V
NOTE 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)
NOTE 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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■ Connector Use
Connection
Disconnection
· Turn off the power source
· Align the red dots on the connector shells
· Push the plug straight into the socket
· Turn off the power source
· Pull the release sleeve on the male connector to its outermost position and hold there
· Pull the plug from the socket
NOTE
· DO NOT attempt to force open a connection by pulling on the cables or the shells, 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.
Figure 2.6 Lemo Connection/Disconnection
■ Cables
OD (outside diameter) = 7.50±0.30 mm
Minimum bend radius: 7.5 * OD
NOTE To avoid damaging the cable, do not bend the cable at the cable gland.
Before disconnection: pull the release sleeve to its outermost position and hold there
Before connection: align the red dots

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2.3 Connection Box (Optional)
Users may connect the LiDAR directly or using the connection box.
The connection box has a power port, a GPS port, and a standard Ethernet port.
Lemo part number: PHG.2T.316.CLLC75Z (female socket, on the connection box)
Figure 2.7 Connection Box (Unit: mm)

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2.3.1 Connection Box Interfaces
Figure 2.8 Connection Box (Front)
Figure 2.9 Connection Box (Back)
Port #
Port Name
Description
a
Standard Ethernet Port
RJ45, 100 Mbps Ethernet
b
Power Port
Use DC-005 DC power adapter
External power supply: 9 V to 48 V, at least 18 W
c
GPS Port
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:
Pin #
Direction
Pin Description
Requirements
1
Input
PPS (pulse-per-second) signal for synchronization
TTL level 3.3 V/5 V
Recommended pulse width: ≥1 ms
Cycle: 1 s (from rising edge to rising edge)
2
Output
Power for the external GPS module
5 V
3
Output
Ground for the external GPS module
-
4
Input
Receiving serial data from the external GPS module
RS232 level
5
Output
Ground for the external GPS module
-
6
-
Reserved
-

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2.3.2 Connection
Figure 2.10 Connection Box - Connection
NOTE Refer to Appendix III when PTP protocol is used.

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2.4 Get Ready to Use
Before operating the LiDAR, strip away the protective cover outside the enclosure.
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:
~$ sudo ifconfig enp0s20f0u2 192.168.1.100
(replace enp0s20f0u2 with the local Ethernet port name)
Open the Network Sharing Center, click on "Ethernet"
In the "Ethernet Status" box, click on "Properties"
Double-click on "Internet Protocol Version 4 (TCP/IPv4)"
Configure the IP address to 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/software, see Chapter 4 (Web Control)
The SDKs (Software Development Kits) are published on Hesai's official GitHub page. Please find the download links at:
www.hesaitech.com/en/download (Product Documentation → select product model)

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3Data Structure
The LiDAR outputs Point Cloud Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP/IP.
Figure 3.1 Data Structure with UDP Sequence OFF
UDP sequence is OFF by default . When UDP sequence is ON, the Additional Information in the UDP data changes from 22 bytes to 26 bytes.