Hesai Pandar128 User manual

www.hesaitech.com
Pandar128
128-Channel
Mechanical LiDAR
User Manual
HESAI Wechat

Doc Version: 128-en-2003A2
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) .......................................................... 16
2.4 Get Ready to Use .......................................................................... 21
3Data Structure...................................................................................... 22
3.1 Point Cloud Data Packet .............................................................. 23
3.2 GPS Data Packet........................................................................... 33
4Web Control ......................................................................................... 39
4.1 Home ............................................................................................ 40
4.2 Settings......................................................................................... 41
4.3 Azimuth FOV ................................................................................. 45
4.4 High Resolution ............................................................................47
4.5 Operation Statistics......................................................................48
4.6 Monitor..........................................................................................49
4.7 Upgrade ........................................................................................50
5PandarView.......................................................................................... 51
5.1 Installation....................................................................................51
5.2 Use.................................................................................................52
5.3 Features ........................................................................................55
6Communication Protocol .................................................................... 60
7Sensor Maintenance ............................................................................ 61
8Troubleshooting .................................................................................. 63
Appendix I Channel Distribution ............................................................. 66
Appendix II Absolute Time and Laser Firing Time ................................... 74
Appendix III PTP Protocol........................................................................ 84
Appendix IV Nonlinear Reflectivity Mapping ........................................... 86
Appendix V Support and Contact ............................................................ 91

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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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Hot Surface
During or after a period of operation, DO NOT touch the product's enclosure with your skin. Such direct contact with the hot surface can result in
discomfort or even burns. If you incorporate this LiDAR product into your product(s), you should also communicate the hot surface risks to the
intended users of your product(s).
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 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 format of Pandar128.
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
128 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 Default Rotation Direction
(Top View)
The LiDAR's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation.
By default, the LiDAR rotates clockwise in the top view. To select counterclockwise rotation, see Section 4.2 (Web Control - Settings).
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 42 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
· 0.125° from Channel 26 to Channel 90
· 0.5° from Channel 2 to Channel 26, as well as from Channel 90 to Channel 127
· 1° between Channel 1 and Channel 2, as well as between Channel 127 and Channel 128
· detailed in Appendix I (Channel Distribution)
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
128
Laser Class
Class 1 Eye Safe
Range Capability
0.3 to 200 m (at 10% reflectivity)
Ingress Protection
IP6K7 & IP6K9K
Range Accuracy
±8 cm (0.3 to 0.5 m, each channel)
Dimensions
Height: 123.7 mm
±5 cm (0.5 to 1 m, each channel)
Top/Bottom Diameter: 118.0 / 116.0 mm
±2 cm (1 to 200 m, average)
Operating Voltage
DC 9 to 48 V
FOV (Horizontal)
360°
Power Consumption
27 W / 20 W (at 0.1°/0.2° horizonal resolution)
Resolution (Horizontal)
Configurable on-the-fly
Operating Temperature
-40℃ to 85℃
0.1°/0.2° (10 Hz)
Weight
1.63 kg
0.2°/0.4° (20 Hz)
DATA I/O
FOV (Vertical)
40° (-25° to +15°)
Data Transmission
UDP/IP Ethernet, 1000Base-TX or 1000Base-T1
Resolution (Vertical)
0.125° (-6° to +2°)
Data Outputs
Distance, Azimuth Angle, Intensity
0.5° (+2° to +14°, -6° to -24°)
Valid Data Points
Single Return: 3,456,000 points/sec (max)
1° (+14° to +15°, -24° to -25°)
Dual Return: 6,912,000 points/sec (max)
Frame Rate
10 Hz, 20 Hz
Point Cloud Data Rate
Single Return: 117.28 Mbps (max)
Returns
Single Return (Last/Strongest/First)
Dual Return: 234.56 Mbps (max)
Dual Return (Last and Strongest)
Clock Source
GPS / PTP
Dual Return (Last and First)
PTP Clock Accuracy
≤1 μs
Dual Return (First and Strongest)
PTP Clock Drift
≤1 μs/s
CERTIFICATIONS
NOTE Specifications are subject to change. Please refer to the latest
version.
NOTE Range Capability: measured under 100 klux ambient intensity. Range accuracy may vary with range, temperature, and target reflectivity.
NOTE The range and horizontal resolution of each channel is shown in Appendix I (Channel Distribution).

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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 part number: EEG.2T.316.CLN (female socket, on the LiDAR)
Looking from the
bottom of the LiDAR
Figure 2.5 Lemo Connector (Female Socket)

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2.2.1 Pin Description
■ 1000Base-TX
No.
Signal
Voltage
No.
Signal
Voltage
1
Ground (Return)
0 V
9
GPS Serial Data
-13 to +13 V
2
Ground (Return)
0 V
10
Power
9 to 48 V
3
Ethernet BI_DC-
-1 to 1 V
11
Power
9 to 48 V
4
Ethernet BI_DC+
-1 to 1 V
12
GPS PPS
3.3 / 5 V
5
Ethernet BI_DB-
-1 to 1 V
13
Ethernet BI_DD-
-1 to 1 V
6
Ethernet BI_DB+
-1 to 1 V
14
Ethernet BI_DD+
-1 to 1 V
7
Ethernet BI_DA-
-1 to 1 V
15
Index
0 to 3.3 V
8
Ethernet BI_DA+
-1 to 1 V
16
Encoder
0 to 3.3 V
■ Automotive 1000Base-T1
No.
Signal
Voltage
No.
Signal
Voltage
1
Ground (Return)
0 V
9
GPS Serial Data
-13 to +13 V
2
Ground (Return)
0 V
10
Power
9 to 48 V
3
Ethernet_Data-
-1 to 1 V
11
Power
9 to 48 V
4
Ethernet_Data+
-1 to 1 V
12
GPS PPS
3.3 / 5 V
5
-
-
13
-
-
6
-
-
14
-
-
7
-
-
15
Index
0 to 3.3 V
8
-
-
16
Encoder
0 to 3.3 V

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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
2.2.2 Cables
OD (outside diameter) = 7.70±0.30 mm
Minimum bend radius: 5 * OD
NOTE To avoid damaging the cable, do not bend the cable at the cable gland.

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2.2.3 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
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: FSG.2T.316.CLAC80Z (male plug, on the connection box)
Figure 2.7 Connection Box (Unit: mm)

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■ 1000Base-TX
No.
Signal
Voltage
Wire Color
No.
Signal
Voltage
Wire Color
1
Ground (Return)
0 V
Black
9
GPS Serial Data
-13 to +13 V
Yellow
2
Ground (Return)
0 V
White
10
Power
9 to 48 V
Red
3
Ethernet BI_DC-
-1 to 1 V
Blue
11
Power
9 to 48 V
Green
4
Ethernet BI_DC+
-1 to 1 V
Blue/White
12
GPS PPS
3.3 / 5 V
Purple
5
Ethernet BI_DB-
-1 to 1 V
Green
13
Ethernet BI_DD-
-1 to 1 V
Brown
6
Ethernet BI_DB+
-1 to 1 V
Green/White
14
Ethernet BI_DD+
-1 to 1 V
Brown/White
7
Ethernet BI_DA-
-1 to 1 V
Orange
15
Index
0 to 3.3 V
Gray
8
Ethernet BI_DA+
-1 to 1 V
Orange/White
16
Encoder
0 to 3.3 V
Gray/White
■ Automotive 1000Base-T1
No.
Signal
Voltage
Wire Color
No.
Signal
Voltage
Wire Color
1
Ground (Return)
0 V
Black
9
GPS Serial Data
-13 to +13 V
Yellow
2
Ground (Return)
0 V
White
10
Power
9 to 48 V
Red
3
Ethernet_Data-
-1 to 1 V
Blue
11
Power
9 to 48 V
Green
4
Ethernet_Data+
-1 to 1 V
Blue/White
12
GPS PPS
3.3 / 5 V
Purple
5
-
-
13
-
-
6
-
-
14
-
-
7
-
-
15
Index
0 to 3.3 V
Gray
8
-
-
16
Encoder
0 to 3.3 V
Gray/White

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2.3.1 Connection Box Interfaces
Figure 2.8 Connection Box (Front)
Port #
Port Name
Description
a
Standard Ethernet Port
RJ45, 1000 Mbps Ethernet
b
Power Port
Use DC-005 DC power adapter
External power supply: 9 to 48 V, 27 W
c
GPS Port
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
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
-