Hesai Pandar64 User manual

www.hesaitech.com
640-en-2002A1
Pandar64
64-Channel
Mechanical LiDAR
User Manual
HESAI Wechat

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 .......................................................................... 18
3Data Structure...................................................................................... 19
3.1 Point Cloud Data Packet .............................................................. 20
3.2 GPS Data Packet........................................................................... 25
4Web Control ......................................................................................... 31
4.1 Home ............................................................................................ 32
4.2 Settings......................................................................................... 33
4.3 Azimuth FOV ................................................................................. 36
4.4 Operation Statistics......................................................................39
4.5 Upgrade ........................................................................................40
5PandarView.......................................................................................... 42
5.1 Installation....................................................................................42
5.2 Use.................................................................................................43
5.3 Features ........................................................................................46
6Communication Protocol .................................................................... 51
7Sensor Maintenance ............................................................................ 52
8Troubleshooting .................................................................................. 54
Appendix I Channel Distribution ............................................................. 56
Appendix II Absolute Time and Laser Firing Time ................................... 61
Appendix III PTP Protocol........................................................................ 65
Appendix IV Phoenix Contact .................................................................. 67
Appendix V Nonlinear Reflectivity Mapping ............................................ 68
Appendix VI Certification Info.................................................................. 73
Appendix VII Support and Contact .......................................................... 74

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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 device. 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 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 device 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 device disposal.
Handling
This device contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing,
and squeezing may cause damage to the device.
In case of dropping the device, STOP using the device immediately and contact Hesai technical support.
Enclosure
This device contains high-speed rotating parts. To avoid potential injuries, DO NOT operate the device if the enclosure is loose or damaged.
To ensure optimal performance, do not touch the device's enclosure with bare hands. If the enclosure is already stained, please refer to the
Sensor Maintenance chapter in user manuals for the cleaning method.
Eye Safety
Although the device meets Class 1 eye safety standards, DO NOT look into the transmitting laser through a magnifying device (microscope, eye
loupe, magnifying glass, etc.). For maximum self-protection, avoid looking directly at the device when it is in operation.
Repair
DO NOT open and repair the device without direct guidance from Hesai Technology. Disassembling the device 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 device'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 Exposure to Hot Surface
Prolonged exposure to the device's hot surface may cause discomfort or injury. If the device has been powered and operating for a long time,
avoid skin contact with the device and its power adapter.
Vibration
Strong vibration may cause damage to the device 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 device that prohibit or restrict the use of electronic devices. Although the device is designed, tested,
and manufactured to comply with the regulations on RF radiation, the radiation from the device may still influence other electronic devices.
Medical Device Interference
Some components in the device 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
and whether you need to keep a safe distance from the device. If you suspect that the device is interfering with your medical device, stop using
the device immediately.
Explosive Atmosphere and Other Air Conditions
Do not use the device 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 device to high concentrations of industrial
chemicals, including liquefied gases that are easily vaporized (such as helium), can damage or weaken the device's function. Please observe all
the signs and instructions on the device.
Light Interference
Some precision optical instruments may be interfered by the laser light emitted from the device.

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1Introduction
This manual describes the specifications, installation, and data output format of Pandar64.
This manual is under constant revision. Please contact Hesai for the latest version.
1.1 Operating Principle
Distance Measurement: Time of Flight (ToF)
1) A laser diode emits a beam of ultrashort laser pulses onto the object.
2) Diffuse reflection of the laser occurs upon contact with the target object. The beams are detected by the optical sensor.
3) Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.
Figure 1.1 ToF Formula

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1.2 LiDAR Structure
64 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 shown above. The Z-axis is the axis of rotation.
The origin is shown as a red dot in Figure 1.6 on the next page. After geometric transforms, all the measurements are relative to the origin.
Each laser channel has an intrinsic horizontal angle offset. When Channel 18 passes the zero degree position (y-axis) illustrated 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
· 0.167° between Channel 6 and Channel 54
· 1° between Channel 5 and Channel 6, as well as between Channel 54 and Channel 62
· 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 angle offsets are recorded in this LiDAR unit's calibration file.
Users can obtain the calibration file by sending the TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION, as described in Hesai TCP API
Protocol (Chapter 6).

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1.4 Specifications
SENSOR
MECHANICAL/ELECTRICAL/OPERATIONAL
Scanning Method
Mechanical Rotation
Wavelength
905 nm
Channel
64
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: 118.00 / 116.00 mm
FOV (Horizontal)
360°
Operating Voltage
DC 9 to 48 V
Resolution (Horizontal)
0.2° (10 Hz), 0.4° (20 Hz)
Power Consumption
22 W
FOV (Vertical)
40° (-25° to +15°)
Operating Temperature
-20℃ to 65℃
Resolution (Vertical)
0.167° (-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: 1,152,000 points/sec @10 Hz
5° (-19° to -14°); 6° (-25° to -19°)
Dual Return: 2,304,000 points/sec @10 Hz
Frame Rate
10 Hz, 20 Hz
Clock Source
GPS / PTP
Returns
Single Return
PTP Clock Accuracy
≤1 μs
Dual Return (Strongest, Last)
PTP Clock Drift
≤1 μs/s
CERTIFICATIONS
RoHS, REACH, WEEE
CE, FCC, FDA, IC, EAC, KCC
NOTE Specifications are subject to change without notice.
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 #
Function
Color
Voltage
Pin #
Function
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
Index
PURPLE
0 V to 3.3 V
9
GPS Serial Data
WHITE
-13 V to +13 V
16
Encoder
PURPLE/WHITE
0 V to 3.3 V
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 your 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 comes equipped with a power port, a GPS port, and a standard Ethernet port.
The cable length between the connector and the connection box is 1.7 m by default.
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)
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 22 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
Output
Transmitting serial data to the external GPS module
RS232 level

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For Pandar64 LiDARs with Lemo connectors, a trigger port is added to output external trigger signals.
Figure 2.9 Connecting Box (Back)
Port #
Port Name
Description
d
Trigger Port
Connector (socket): Molex, LLC 5023520300
Recommended wire connector (plug): Molex, LLC 5023510300
Voltage: 0 V to 3.3 V
Signal type: pulse
Max. current output level: 12 mA
Pin Description for the trigger port:
Pin #
Direction
Pin Description
1
Input
GND, to ground the external trigger signal
2
Output-Encoder
Trigger signal output: outputs one pulse when the LiDAR rotates 0.05 degrees
7 μs@600RPM, 3.5 μs@1200RPM
3
Output-Index
Trigger signal output: outputs one pulse when the LiDAR rotates one revolution
4 μs@600RPM, 2 μs@1200RPM

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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
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:
Use the 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" interface, 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)