Hesai Pandar40P User manual

Pandar40P
40-Channel
Mechanical LiDAR
User’s Manual
HESAI Wechat
www.hesaitech.com
402-en-1803A1

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 01-03
1.2 Specifications 04
Introduction
2.1 Mechanical Installation (Metric System) 05-07
2.2 Interface 08
2.3 Connecting Box (Optional Component) 09-11
2.4 Get Ready to Use 12
Installation Guide
2
3.1 Point Cloud Data Packet Ethernet Header/UDP Data 13-16
3.2 GPS Data Packet Ethernet Header/UDP Data 17-20
LiDAR Data Structure
3
4.1 Open Web Control 21
4.2 Setting 22
4.3 Angle Range 23-24
4.4 Device Info 25
4.5 Firmware Upgrade 26
Web Control
4
27-29
Appendix I
Pandar40P Channel Distribution
30-33
Appendix II
Point Cloud Data Packet Absolute Time and
Laser Firing Time Calculations
34-35
Appendix III
PTP Protocol
36-43
Appendix IV
Communication Protocol
44-45
Appendix V
Data Structure with UDP Sequence On
46
Appendix VI
Phoenix Contact
55-56
Appendix VIII
Support and Contact
47-54
Appendix VII
PandarView

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
Pandar40P is a 40-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 40 laser diodes inside the housing.
Pandar40P’s unique channel distribution makes it more suitable for autonomous driving applications.
In addition to the specifications of Pandar40P, 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
40 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 12 passes y axis defined in Figure 1.3.
-02-

Figure 1.5 Laser Firing Position
1.1.3 Pandar40P Channel Vertical Distribution
The vertical angular resolution is 0.33° between Channel 6 and Channel 30;
The vertical angular resolution is 1° between Channel 5 and Channel 6, Channel 30 and Channel 38;
The vertical angular resolution of the remaining channels is not evenly distributed.
Please see Appendix I for detailed channel distribution.
Channel 1
Channel 6
Channel 12
Channel 30
Channel 40
+ 15°
+ 2°
0°
- 6°
Channel 38 - 14°
- 25°
Figure 1.4 Channel Vertical Distribution
103.935 mm
229.784 mm
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Specifications
1.2
Scanning Method Mechanical Rotating
Channel 40
Wavelength 905 nm
Measurement Range 0.3 m to 200 m (at 10% reflectivity)
Data Points Generated Single Return Mode: 720,000 points per second
Dual Return Mode: 1,440,000 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)
*Specifications are subject to change without notice.
Table 1.1 Prototype Specifications of Pandar40P
0.2° (10 Hz), 0.4° (20 Hz)
Clock Source GPS/PTP
PTP Clock Accuracy ≤1 μs
PTP Clock Drift ≤1 μs/s
Weight 1.52 kg
FOV (Vertical) 40° (-25° to +15°)
0.33° (-6° to +2°);
1° (+2° to +3°, -14° to -6°);
2° (+3° to +5°);
3° (+5° to +11°);
4° (+11° to +15°);
5° (-19° to -14°); 6° (-25° to -19°)
Angular Resolution (Vertical)
Data Transmission Method UDP/IP Ethernet (100 Mbps)
Data Outputs UDP: distance, azimuth angle, intensity
Power Consumption 18 W
Enclosure Level IP67
Operating Voltage 9 V to 48 V
Operating Temperature -40℃ to +65℃
Dimensions Height: 116.7 mm; Top Diameter: 116.00
mm; Bottom Diameter: 115.00 mm
-04-

Figure 2.2 Pandar40P Mounting Base
2Installation Guide
Mechanical Installation (Metric System)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 Pandar40P Side View
116.70 mm
φ116.00 mm
φ115.00 mm
-05-

M6 screw
7~9 mm over mounting base
2xΦ4PINS
5~6 mm over mounting base
Figure 2.3 Diagram of Quick Installation
Quick Installation
-06-

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
-07-

Interface2.2
Pandar40P uses Lemo Contact as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3m.
NOTE Pandar40P 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
-08-

1500 mm
Lemo Connector
Connecting box is the optional component of Pandar40P. 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 Lemo connector to the connecting box is 1.5m.
Figure 2.6 Connecting Box
2.3 Connecting Box (Optional Component)
-09-

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 18 W
Cable
c
1 2 3 4 5 6
b a
-10-

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
Pandar40P
2.3.2 How to Connect using Connecting Box
Figure 2.7 How to Connect Using Connecting Box
NOTE Please refer to Appendix III for the connection using PTP protocol.
-11-

2.4 Get Ready to Use
Pandar40P 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 Pandar40P 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.
(https://github.com/HesaiTechnology/Pandar40P, or, https://github.com/HesaiTechnology/Pandar40p_ros)
-12-

The communication protocol for data output of Pandar40P 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: 1262 bytes Ranging Data: 1240 bytes
Additional Information: 22 bytes
GPS Data Packet
Ethernet Header: 42 bytes
UDP Data: 512 bytes
3.1 Point Cloud Data Packet Ethernet Header/ UDP Data
Each Pandar40P point cloud data packet has a 42 bytes ethernet header and 1262 bytes UDP data.
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3.1.1 Point Cloud Data Packet – Ethernet Header
Here is an example of point cloud data packet ethernet header definition:
IP Address
Each Pandar40P 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 (0x04F6, represents 1270 bytes), checksum 2 bytes
Figure 3.2 Point Cloud Data Ethernet Header Internet Protocol Illustration
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3.1.2 Point Cloud Data Packet- UDP Data
The UDP Data of Pandar40P has a 1262 bytes payload consisting of 1240 bytes ranging data and 22 bytes additional information.
All the multi-byte values are the unsigned type and in Little Endian format.
The definition of each block in ranging data is as follow:
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 Point Could Data UDP Data-Ranging Data
Ranging Data 1240 bytes (10 blocks)
Block 1 Block 2 Block 3 Block 10
0xFFEE 0xFFEE 0xFFEE 0xFFEE
Azimuth Angle 1 Azimuth Angle 2 Azimuth Angle 3 Azimuth Angle 10
Channel 1 Unit 1 Channel 1 Unit 2 Channel 1 Unit 3 Channel 1 Unit 10
Channel 2 Unit 1 Channel 2 Unit 2 Channel 2 Unit 3 Channel 2 Unit 10
Channel 40 Unit 1 Channel 40 Unit 2 Channel 40 Unit 3 Channel 40 Unit 10
······ ······ ······ ······
······
······
······
······
······
······
······
The length of
each block is 124
bytes
0xFFEE 2 bytes Head, meaningless, 0xFF first
Azimuth Angle 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°
Channel XX Unit XX 3 bytes 2 bytes distance data Distance Value=Distance*4mm
Maximum Distance Value=(2^16–1)*4mm=
262.14m
1 byte reflectivity data
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Additional Information: 22 bytes
Table 3.4 Point Cloud Data UDP Data-Additional Information
Reserved 2 bytes reserved data, meaningless
Reserved 5 bytes reserved data, meaningless
High Temperature
Shutdown Flag 1 byte
0x01 means high temperature; 0x00 means normal operation
· during normal operation, shutdown flag keeps being 0x00
· if high temperature is detected and system needs to be shut down, the shutdown flag will be set to 0x01, and the
system will be shut down after 60 seconds. The flag keeps being 0x01 during the 60 seconds and shutdown period
· after the high temperature shutdown, the LiDAR temperature will decrease. When the system is not in high
temperature status, the shutdown flag will be reset to 0x00 and the system can return to normal operation
Motor Speed 2 bytes speed_2_bytes [15:0] = speed (RPM)
GPS Timestamp 4 bytes the packing time of this data packet, the unit is 1 μs, value range 0 μs-1000000 μs (1 s)
Return Mode Information 1 byte the strongest return (0x37), the last return (0x38), dual return (0x39)
Factory Information 1 byte 0x42 (or 0x43)
UTC 6 bytes year, month, date, hour, minute, second, decimal digit
By now, the direction and distance of this point have been decided, and this obstacle point could be drawn in the polar or rectangular
coordinate system. The real-time point cloud data of Pandar40P can be drawn by analyzing every data in the UDP Data Packet using the
above method.
Taking Channel 5 in block 3 of a UDP Data Packet as an example, please see Appendix I for detailed channel distribution:
1) Horizontal angle offset of the laser is -1.042°, and vertical angle of the laser is 3.00° for Channel 5 (refer to Appendix I).
2) Horizontal angle is the current reference angle of the rotor plus horizontal angle offset, so the result is (Azimuth Angle 3+(-1.042)) degree.
(NOTE We define clockwise as a positive direction of the angle from top view)
3) Analyze the “Channel 5 Unit 3” from the UDP Data Packet, and the distance formed by upper 2 bytes multiplied by 4 mm is the actual
distance in millimeters in the real world.
Example of UDP Data Analysis
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Ethernet Header: 42 bytes
Table 3.5 GPS Data Packet Ethernet Header Definition
Ethernet II MAC 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, represents10000), destination port (0x277E, represents 10110)
Length 2 bytes (0x208, represents 520 bytes), checksum 2 bytes
Ethernet Data Packet Type
Internet Protocol
UDP Port Number
UDP Length and Checksum
3.2.1 GPS Data Packet – Ethernet Header
Each GPS Data Packet has a 42 bytes ethernet header and 512 bytes UDP Data. All the multi-byte values are the unsigned type and in Little
Endian format. GPS UDP Data Packet will be triggered every second, and the port is 10110.

Before receiving the GPS module data, the rising edge of the internal 1Hz signal of the LiDAR will trigger a GPS Data Packet. The initial GPS
time data in the packet will be counted from 000101000000 (yymmddhhmmss, year, month, day, hour, minute, second) and this unreal GPS
time can also increase according to internal 1Hz signal of LiDAR as long as GPRMC information is not available at the beginning. If LiDAR
receives PPS signal and GPRMC data from GPS module, the local 1Hz signal of the LiDAR will be locked to the PPS signal. GPS Data Packet
is still triggered by the rising edge of the internal 1Hz signal. Meantime, the GPS time data in the Packet will be reset to actual GPS time by
GRPMC information from GPS module.
GPS module sends firstly the PPS signal, then the GPRMC information. The LiDAR can extract the UTC information and stamp 6 bytes UTC
time (Year:Month:Day:Hour:Minute:Second) into Point Cloud UDP Packet. User can then add 4 bytes timestamp and 6 bytes UTC time in
Point Cloud UDP to achieve absolute time for the UDP packet.
As long as the GPS signal is available, the GPS time in the packet will update according incoming GPRMC information. If GPS module stops
sending data, LiDAR will still trigger a GPS Data Packet following the internal 1Hz signal and GPS time data in the Packet will be counted on
the base of previously actual GPS time.
3.2 GPS Data Packet Ethernet Header/UDP Data
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