Hesai Pandar20A User manual

Pandar20A/B
20-Channel
Mechanical LiDAR
User’s Manual
HESAI Wechat
www.hesaitech.com
202-en-1901A1

Caution
Please read and follow all instructions carefully and consult all relevant national and international safety regulations for your
application.
The device satisfies the requirements of:
IEC 60825-1:2014;
21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No.50, dated June 24, 2007;
GB7247.1-2012
DISCLAIMER The information contained within this user’s manual and the functions offered are intended to provide information about
products. All reasonable efforts have been made to ensure the accuracy of the information. However, Hesai cannot be held responsible for
any errors. Hesai does not warrant the accuracy and reserves the right to make changes to the catalog and its functions at any time without
notice.
To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device on your
own accord. The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the
device. For repairs and maintenance inquiries, please contact an authorized Hesai Technologies service personnel.
Laser Safety Notice – Laser Class 1
Safety Notice
Use of controls or adjustments or performance of
procedures other than those specified herein may result in
hazardous radiation exposure
CAUTION

Contents
1.1
1
Operational Principles 01-04
1.2 Specifications 05
Introduction
2.1 Mechanical Installation (Metric System) 06-08
2.2 Interface 09
2.3 Connecting Box (Optional Component) 10-12
2.4 Get Ready to Use 13
Installation Guide
2
3.1 Point Cloud Data Packet Ethernet Header/UDP Data 14-18
3.2 GPS Data Packet Ethernet Header/UDP Data 19-22
LiDAR Data Structure
3
4.1 Open Web Control 23
4.2 Setting 24
4.3 Angle Range 25-26
4.4 Device Info 27
4.5 Firmware Upgrade 28
Web Control
4
29-31
Appendix I
Pandar20A/B-Channel Distribution
32-35
Appendix II
Point Cloud Data Packet Absolute Time and
Laser Firing Time Calculations
36-37
Appendix III
PTP Protocol
38-45
Appendix IV
Communication Protocol
46-47
Appendix V
Data Structure with UDP Sequence On
48
Appendix VI
Phoenix Contact
49-56
Appendix VII
PandarView
57
Appendix VIII
FCC Statement
58-59
Appendix IV
Support and Contact

1.1 Operational Principles
1.1.1 Distance Measurement: Time of Flight (ToF)
A laser diode emits a beam of ultrashort pulse laser on to the object.
Diffuse reflection of the laser occurs upon contact with the target object. Reflected beams are detected by the optical sensor.
Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.
1.
2.
3.
Figure 1.1 ToF Formula
d= ct
1
2
d：Distance
c：Speed of light
t：Laser beam travel time
Pandar20A/B is a 20-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 20 laser diodes inside the
housing. Pandar20A/B’s unique channel distribution makes it more suitable for autonomous driving applications.
In addition to the specifications of Pandar20A/B, this manual also describes the mechanical installation, data outputs format, and GPS
timestamp synchronization.
This manual is undergoing constant revision and improvement, please ask Hesai for the latest version of the user’s manual.
Introduction1
-01-

Laser Receiver
Laser Emitter
Shell
Z
XY
90° 270°
180°
0°
1.1.2 Structure Description
Pandar20A and Pandar20B share the same structure except for the logo. Here we use Pandar20A as an example. 20 pairs of laser
emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360 degrees.
Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 LiDAR Coordinate System and Rotation Direction
NOTE
1) Figure 1.3 shows the coordinate system and the z axis is along the rotation center of the LiDAR. The origin of the coordinate system is
shown as a red dot in Figure 1.5 (side view of the LiDAR). All the LiDAR measurement data are relative to the origin after geometry
transformation according to LiDAR’s optical and mechanical design.
2) Because of the intrinsic angle offset of each laser channel, the zero degree is defined as the azimuth angle in the corresponding block in
UDP packet when channel 9 (Pandar20A) or channel 6 (Pandar20B) passes y axis defined in Figure 1.3.
-02-

1.1.3 Pandar20A/B Channel Vertical Distribution
103.935 mm
315.257 mm
Figure 1.5 Laser Firing Position
Channel 1
Channel 4
Channel 9
Channel 20
+ 8°
+ 2°
- 1°
- 25°
Channel 14 - 6°
Figure 1.4 Channel Vertical Distribution
Please see Appendix I for detailed channel distribution.
Pandar20A
-03-

126.118 mm
775.939 mm
3°
19°
Figure 1.7 Laser Firing Position
Pandar20B
Channel 1
Channel 2
Channel 11
Channel 16
Channel 20
+ 3°
+ 2°
- 3°
- 8°
- 19°
Figure 1.6 Channel Vertical Distribution
Please see Appendix I for detailed channel distribution.
Pandar20B
-04-

Specifications
1.2
Scanning Method Mechanical Rotating
Channel 20
Wavelength 905 nm
Measurement Range 0.3 m to 200 m (at 10% reflectivity)
Data Points Generated Single Return Mode: 360,000 points per second
Dual Return Mode: 720,000 points per second
Frame Rate （Configurable） 10 Hz，20 Hz
Returns (Configurable) Single and Dual Returns (Strongest, Last)
Laser Class Class 1 Eye Safe
Measurement Accuracy ±5 cm (0.3 m to 0.5 m)，±2 cm (0.5 m to 200 m)
FOV (Horizontal) 360°(default)
Angular Resolution (Horizontal)
* Pandar20A and Pandar20B share the same specifications, except for the FOV (Vertical) and Angular Resolution (Vertical). Please see Appendix I for detailed
vertical angular resolution. Specifications are subject to change without notice.
Table 1.1 Prototype Specifications of Pandar20A/B
0.2° (10 Hz), 0.4° (20 Hz)
Clock Source GPS/PTP
PTP Clock Accuracy ≤1 μs
PTP Clock Drift ≤1 μs/s
Weight 1.408 kg
FOV (Vertical) Pandar20A：33° (-25° to +8°)
Pandar20B：22° (-19° to +3°)
0.33° Minimum Angular Resolution
(Vertical)
Data Transmission Method UDP/IP Ethernet (100 Mbps)
Data Outputs UDP: distance, azimuth angle, intensity
Power Consumption 16 W
Enclosure Level IP67
Operating Voltage 9 V to 48 V
Operating Temperature -40℃ to +65℃
Dimensions Height: 104.70 mm; Top Diameter: 116.00
mm; Bottom Diameter: 115.00 mm
-05-

Figure 2.2 Pandar20A/B Mounting Base
2Installation Guide
Mechanical Installation (Metric System)
Pandar20A and Pandar20B share the same installation method. Here we use Pandar20A as an example.
2.1
88.90 mm
3×M6 7 mm(MOUNT)
φ 98 mm
M6 7 mm(MOUNT)
2×φ4 mm 6 mm
For φ4 mm PINS
Figure 2.1 Pandar20A/B Side View
104.70 mm
φ116.00 mm
φ115.00 mm
-06-

M6 screw
7~9 mm over mounting base
2xΦ4PINS
5~6 mm over mounting base
Figure 2.3 Diagram of Quick Installation
Quick Installation
-07-

M6 screw
7~9 mm over mounting base
3xM6 screw
5~6 mm over mounting base
2xΦ4PINS
5~6 mm over mounting base
Figure 2.4 Diagram of Stable Installation
Stable Installation
-08-

Interface2.2
Pandar20A/B uses Lemo Contact as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3 m.
NOTE Pandar20A/B can also use Phoenix Contact as the communication connector. Please refer to Appendix VI for more details.
Figure 2.5 Lemo Contact
Table 2.1 Communication Connector Description
Pin #
1
2
3
4
5
6
7
8
N.A
N.A
N.A
N.A
Ethernet RX-
Ethernet RX+
Ethernet TX-
Ethernet TX+
N.A
N.A
N.A
N.A
BLUE
BLUE/WHITE
ORANGE
ORANGE/WHITE
N.A
N.A
N.A
N.A
-1 V to 1 V
-1 V to 1 V
-1 V to 1 V
-1 V to 1 V
Function Color Voltage (V) Pin #
9
10
11
12
13
14
15
16
GPS Serial Data
GPS PPS
P12V
P12V
Ground (Return)
Ground (Return)
N.A
N.A
WHITE
YELLOW
RED
GRAY
BLACK
GRAY/WHITE
PURPLE
PURPLE/WHITE
-13 V to +13 V
3.3 V/5 V
12 V
12 V
0
0
N.A
N.A
Function Color Voltage (V)
First View:
The direction from the
eye to the interface as
shown
1
1
2
3
16
48
5
6
7
B
B
A
-09-

2.3 Connecting Box (Optional Component)
Connecting box is the optional component of Pandar20A/B. Users can choose to connect LiDAR using the connecting box.
The connecting box comes equipped with a power port, a GPS port, and a standard ethernet port. The cable length from
phoenix connector to the connecting box is 1.5 m.
Figure 2.6 Connecting Box
1500 mm
Lemo Connector
-10-

2.3.1 Connecting Box Interfaces
GPS port pin number from left to right is 1 to 6, and the specific
definition of each pin is shown as follows:
Table 2.3 GPS Pin No. DescriptionTable 2.2 Connecting Box Interfaces Description
Pin No.
1 Input PPS synchronizing signal, to receive synchronized
pulses from the GPS module TTL 3.3 V/5 V
2 Output 5 V power, to provide power for external GPS module
3 Output GND, to ground external GPS module
4 Input Receiving signal of serial port, to receive serial data
from external GPS module, RS232 level
5 Output GND, to ground external GPS module
6 Output Transmitting signal of serial port, to send serial data
to the external GPS module, RS232 level
Direction Pin Description
c GPS Port
Connector type: JST SM06B-SRSS-TB
Recommended connector for external GPS module: JST
SHR-06V-S-B
Voltage standard: RS232
Baud rate: 9600 bps
a Standard Ethernet Port
RJ45, 100 Mbps Ethernet
b Power Portb Power Port
Use DC-005 DC power adapter
Input voltage ranges from 9 V to 48 V
Power consumption is 16 W
Cable
c
1 2 3 4 5 6
b a
-11-

GND, to ground external GPS module
Power port and standard
Ethernet port
Connect the power port to the adapter.
Use an Ethernet cable to connect
the LiDAR’s and computer’s
Ethernet ports.
Computer
Connecting Box
Pandar20A
2.3.2 How to Connect using Connecting Box
Figure 2.7 How to Connect Using Connecting Box
NOTE Pandar20A and Pandar20B share the same connection method. Here we use Pandar20A as an example. Please refer to Appendix III
for the connection using PTP protocol.
-12-

2.4 Get Ready to Use
Pandar20A/B begins to scan and transmit data automatically once it is wired and powered up.
To receive the data on your PC, please set the PC IP address to 192.168.1.100 and Subnet mask to 255.255.255.0.
Point cloud data can be quickly viewed or recorded by using PandarView, the point cloud data viewer software developed by Hesai. For more
on PandarView installation and usage, see Appendix VI PandarView.
NOTE Pandar20A/B does not have a power switch. It starts to operate whenever power is applied.
NOTE Web control can be used to set up the configurable parameters of the LiDAR before using. For more on web control functions,
see Chapter 4.
NOTE SDK (Software Development Kit) of our LiDAR can be found on Hesai official GitHub.
-13-

The communication protocol for data output of Pandar20A/B is Fast Ethernet UDP/IP. The output data includes point cloud data packet and
GPS data packet. Each data packet consists of an ethernet header and a UDP data.
Figure 3.1 LiDAR Data Structure Illustration
NOTE Please refer to Appendix V for details about data structure with UDP Sequence on.
LiDAR Data Structure3
LiDAR Data
Point Cloud Data Packet
Ethernet Header: 42 bytes
UDP Data: 1270 bytes
Header: 8 bytes
Tail: 22 bytes
Body: 1240 bytes
GPS Data Packet
Ethernet Header: 42 bytes
UDP Data: 512 bytes
3.1 Point Cloud Data Packet Ethernet Header/ UDP Data
Each Pandar20A/B point cloud data packet has a 42 bytes ethernet header and 1270 bytes UDP data.
-14-

3.1.1 Point Cloud Data Packet – Ethernet Header
Here is an example of point cloud data packet ethernet header definition:
IP Address
Each Pandar20A/B has a unique MAC address.
The destination IP address is 0xFF and in broadcast form.
The default source IP address is 192.168.1.201.
Taking “Internet Protocol (20 bytes)” as an example, it is described as Figure 3.2.
Ethernet Header: 42 bytes
Table 3.1 Point Cloud Data Packet Ethernet Header Definition
Ethernet II MAC
Ethernet Data Packet Type
Internet Protocol
UDP Port Number
UDP Length and Checksum
12 bytes
2 bytes
20 bytes
4 bytes
4 bytes
Destination: Broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF), Source: (xx:xx:xx:xx:xx:xx)
0x08, 0x00
Version, Header Length, Differentiated Services, Field, Total Length, Identification, Flags, Fragment Offset,
Time to Live, Protocol, Header Checksum, Source IP Address, Destination IP Address
UDP source port (0x2710, represents 10000), destination port (0x0940, represents 2368)
Length 2 bytes (0x04fe, represents 1278 bytes), checksum 2 bytes
Figure 3.2 Point Cloud Data Ethernet Header Internet Protocol Illustration
-15-

3.1.2 Point Cloud Data Packet-UDP Data
The UDP Data of Pandar20A/B includes the areas of Header, Body and Tail. All the multi-byte values are the unsigned type and in Little
Endian format.
Header: 8 bytes
Table 3.2 UDP Data-Header Definition
0xee 0xff
Laser N
Block N
RT Start
Dis Unit
2 bytes
1 byte
1 byte
1 byte
1 byte
SOP (start of packet)
0x14 (20 lines)
0x14 (20 blocks per packet)
Return type start, the first block’s return number; (when dual return)
0-single return
1-the first block is the last return when dual return type is selected
2-the first block is the strongest return when dual return type is selected
4 mm
Reserved 1 byte -
Reserved 1 byte -
Header
-16-

The size of each block equals to (20*Unit Size+Azimuth Size).
NOTE Under dual return mode, azimuth angle changes every two blocks. The odd number block is the last return, and the even number block
is the strongest return. If the last and strongest return coincides, the second strongest return will be placed to the even number block.
Table 3.3 Definition of Each Block
Table 3.2 UDP Data-Body Definition
Body: 1240 bytes (20 blocks)
Block 1 Block 2 Block 3 Block 20
Azimuth Azimuth Azimuth Azimuth
Unit 1 Unit 1 Unit 1 Unit 1
Unit 2 Unit 2 Unit 2 Unit 2
Unit 20 Unit 20 Unit 20 Unit 20
······ ······ ······ ······
······
······
······
······
······
······
Each Block 62 bytes
Azimuth 2 bytes
Represents the current reference angle of the rotor.
Azimuth [15:0]: lower byte Azimuth_L [7:0] is in the front, upper byte Azimuth_H [15:8] is in the back.
Azimuth Angle=[Azimuth_H, Azimuth_L]/100°=Azimuth/100°
Unit 3 bytes 2 bytes distance data Distance Value = Distance*4 mm
Maximum Distance Value = (2^16-1)*4 mm = 262.14 m
1 byte reflectivity data
Body
-17-