Hesai PandarXT-16 User manual

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PandarXT-16
16-Channel Mid-Range
Mechanical Lidar User Manual
Classification: Public
Doc Version: X02-en-240210

Table of Contents
■ About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê1
Access to this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê1
Technical support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê1
Legends and format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê1
■ Safety notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê2
Special warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê2
Operating environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê3
Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê5
Installation and operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê5
Repair and maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê9
1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê10
1.1. Operating principle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê10
1.2. Basic structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê11
1.2.1. Side connector lidar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê11
1.2.2. Bottom connector lidar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê12
1.3. Channel distribution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.3.1. Side connector lidar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.3.2. Bottom connector lidar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê14
1.3.3. Angle correction file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê14
1.4. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê15
1.4.1. Ranging accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê18
1.4.2. Ranging precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê20
2. Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê21
2.1. Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê21
2.1.1. Notes on screw installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê21

2.1.2. Side connector lidar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê23
2.1.3. Bottom connector lidar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê25
2.2. Electrical interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê27
2.2.1. Pin description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê27
2.2.2. Bending of cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê28
2.2.3. Connector use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê29
2.3. Connection box (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê31
2.3.1. Ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê32
2.3.2. Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê34
2.4. Network settings on the receiving host . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê38
2.5. Software tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê38
3. Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê40
3.1. Point Cloud Data Packet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê41
3.1.1. Ethernet header. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê41
3.1.2. Point cloud UDP data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê42
3.1.3. Ethernet tail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê48
3.1.4. Point cloud data analysis method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê49
3.2. GPS Data Packet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê52
3.2.1. Ethernet header. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê52
3.2.2. GPS UDP data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê53
3.2.3. Ethernet tail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê56
3.2.4. GPS time data analysis method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê57
4. Web control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê58
4.1. Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê59
4.2. Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê61
4.2.1. Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê63
4.2.2. Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê64

4.2.3. Time sync . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê67
4.3. Azimuth FOV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê70
4.3.1. For all channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê71
4.3.2. Multi-section FOV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê71
4.4. Operation statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê72
4.5. Upgrade. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê73
5. Communication protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê74
6. Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê75
7. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê76
Appendix A: Channel distribution data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê80
Appendix B: Absolute time of point cloud data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê82
B.1. Source of absolute time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê82
B.1.1. GPS as the clock source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê82
B.1.2. PTP as the clock source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê83
B.2. Absolute time of Point Cloud Data Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê85
B.3. Start time of each block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê85
B.4. Laser firing time of each channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê86
Appendix C: Power supply requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê87
C.1. Input voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê87
C.1.1. Calculate the cable voltage drop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê87
C.1.2. Avoid overvoltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê88
C.2. Power Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê88
C.3. Power Up/Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê88
Appendix D: Nonlinear reflectivity mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê90
Appendix E: Legal notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê95

■ About this manual
Please make sure to read through this user manual before your first use and follow the instructions herein when you operate the product. Failure to
comply with the instructions may result in product damage, property loss, personal injuries, and/or a breach of warranty.
Access to this manual
To obtain the latest version, please do one of the following:
•Visit the Downloads page of Hesai's official website: https://www.hesaitech.com/downloads/
•Contact your sales representative of Hesai.
•Contact Hesai technical support team: [email protected]
Technical support
If your question is not addressed in this user manual, please contact us at:
•[email protected]
•https://www.hesaitech.com/technical-support/
•https://github.com/HesaiTechnology
Legends and format
Warnings: Instructions that must be followed to ensure safe and proper use of the product.
Notes: Additional information that may be helpful.
Monospace font: field names
For example: Distance represents the Distance field.
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■ Safety notice
•Please check the certification information on the product's nameplate and read through the corresponding certification warnings. If specific users
require not to present certification information on the nameplate, please follow the agreed-to arrangements.
•If you incorporate this lidar product into your product(s), you are required to provide this user manual (or the access to this user manual) to the
intended users of your product(s).
•This lidar product is intended as a component of an end product. It is the responsibility of the end-product supplier to assess the risk of use in
accordance with applicable standards and inform the intended user of safety-related information.
•Should there be other agreements with specific users, the other agreements shall apply.
•Before using a product, please confirm with Hesai the development maturity of the product in a timely manner. For products still in development,
Hesai makes no warranty of non-infringement nor assumes any responsibility for quality assurance.
Special warnings
Laser safety
-2-

Hot surface
Hot parts!
Burned fingers when handling the parts.
Wait one-half hour after switching off before handling the parts.
Abnormalities
In any of the circumstances listed below, stop using the product immediately:
•If you suspect malfunctions of or damage to the product, with symptoms such as significant noise or visible vibration.
•If you or people in the nearby environment feel discomfort.
•If any device or equipment in the nearby environment malfunctions.
Meanwhile, contact Hesai or an authorized Hesai service provider for more information on product disposal.
Prohibition of disassembly
Unless expressly agreed to in writing by Hesai, do NOT disassemble the product.
Operating environment
Radio frequency interference
•Before using the product, make sure to read all the signs and notices on the product enclosure (including the nameplate). If specific users
require not to present certification information on the nameplate, please follow the agreed-to arrangements.
•Although the product is designed, tested, and manufactured to comply with the regulations on RF radiation (such as FCC, CE-EMC, or KCC), the
radiation from the product may still influence electronic devices.
-3-

Vibration
•If significant mechanical shocks and vibration exist in the product's operating environment, please contact Hesai's technical support team to
obtain the shock and vibration limits of your product model. Exposure to over-the-limit shocks or vibration may damage the product.
•Make sure to package the product in shock-proof materials to avoid damage during transport.
Explosive atmosphere and other air conditions
•Do NOT use the product in any area where potentially explosive atmospheres are present, such as environments with high concentrations of
flammable chemicals, vapors, or particulates (including particles, dust, and metal powder) in the air.
•Do NOT expose the product to environments having high concentrations of industrial chemicals, including liquefied gases that are easily
vaporized (such as helium). Such exposure can damage or impair product functionality.
Chemical environment
To prevent damage or impairment of product functionality, do NOT expose the product to corrosive liquids, including but not limited to strong
acids, strong bases, esters, and ethers.
Ingress protection (IP)
Please check the product's user manual for its IP rating (refer to Section 1.4 Specifications). Make sure to avoid any ingress beyond that rating.
Operating temperature
Please check the product's user manual for its operating temperature (refer to Section 1.4 Specifications). Make sure not to exceed the operating
temperature range.
Recommended storage conditions
Please store the product in a dry and well-ventilated place. The recommended ambient temperature is 23 ± 5°C, and the humidity is between 30%
and 70%.
-4-

Light interference
Certain precision optical instruments may interfere with the laser light emitted from the product. Please check all the instructions for these
instruments and take preventive measures if necessary. For example, protective leather covers are provided for certain product models; when
these lidars are temporarily not used for measurement, the leather covers can be applied to block laser light emission.
Personnel
Recommended operator qualifications
The product should be operated by professionals with engineering backgrounds or experience in operating optical, electrical, and mechanical
instruments. Please follow the instructions in this manual when operating the product and contact Hesai technical support if needed.
Medical device interference
•Some components in the product can emit electromagnetic fields. If the product operators or people in the nearby environment wear medical
devices (such as cochlear implants, implanted pacemakers, and defibrillators), make sure to consult the physicians and medical device
manufacturers for medical advice, such as determining whether keeping the product a safe distance away from the medical devices is needed.
•If you suspect that the product is interfering with your medical device, stop using the product immediately.
Installation and operation
Power supply
•Do NOT use off-spec or damaged cables or adapters.
•You are recommended to use only the cables and power adapters provided by Hesai.
•If you are to design, configure, or select the power supply system (including cables) for the product, make sure to comply with the electrical
specifications in the product's user manual (refer to Section 1.4 Specifications and the Power Supply Requirements section if available); for
technical support, please contact Hesai.
-5-

Electrical interface
•Before powering on the product, make sure the electrical interfaces are dry and clean. Do NOT power on the product in humid conditions.
•Please check Section 2.2 Electrical interface and strictly follow the instructions on plugging/unplugging the connector. If abnormalities already
exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support.
•To prevent breakdowns, turn off the power source before connection and disconnection.
Eye safety
The product is a Class 1 laser product. It satisfies the requirements of:
•IEC 60825-1:2014
•EN 60825-1:2014+A11:2021
•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.
CAUTION: Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation
exposure.
CAUTION
•For maximum self-protection, it is strongly warned that users do NOT look into the transmitting laser through a magnifying product
(microscope, eye loupe, magnifying glass, etc.).
•This product does not have a power switch. It starts operating once connected to power. During operation, the entire cover lens can be
regarded as the product's laser emitting window; looking at the cover lens can be regarded as looking into transmitting laser.
-6-

Product enclosure
•The product contains metal, glass, plastic, as well as sensitive electronic components. If the product is dropped or burnt, stop using it
immediately and contact Hesai technical support.
•Do NOT squeeze or pierce the product. If the product enclosure is broken, stop using it immediately and contact Hesai technical support.
•Certain product models contain high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
•Before operating the product, make sure it is properly and securely mounted. The mounting should prevent the product from leaving its
mounting position under external forces (such as collisions, high winds, and stone impacts).
•If the product enclosure consists of fins or grooves, please wear gloves when handling the product. Applying too much pressure with your bare
hands may cause cuts, bruises or other injuries.
Product enclosure: cover lens
•Do NOT apply protective film, wax or any other substance on the cover lens.
•To keep the product's cover lens from fingerprints and other stains, do NOT touch the cover lens with bare hands. If the cover lens is already
stained, please refer to the cleaning method in Section 6 Maintenance.
•To prevent scratches, do NOT touch the product's cover lens with hard or sharp objects. If scratches already exist, stop using the product and
contact Hesai technical support. Severe scratches may affect the quality of the product's point cloud data.
•Before installing any exterior part, please ensure that each exterior part and its movable area do not overlap the Field of View (FOV) of the lidar
product.
The FOV of lidar is the spatial angular range bounded by the horizontal and vertical FOV ranges (see Section 1.4 Specifications of the
product's user manual); the distance to the origin of the lidar's coordinate system is not limited. For inquiries about the FOV, please contact
Hesai technical support.
-7-

Hot surface
During operation or the time period after the operation, the product's enclosure can be hot.
•To prevent discomfort or even burns, do NOT touch the product's enclosure with your skin.
•To prevent fires, make sure to keep flammable materials away from the product's enclosure.
Certain product models support active heating of the cover lens to reduce the impact of ice and frost. Users can turn off this function.
•While active heating is ON, please avoid direct skin contact with the cover lens.
•For each product model, the location of the cover lens is illustrated in the Introduction section of the product's user manual.
Peripherals
The product may be used along with accessories and devices, such as suction cup mounts, extension cables, power supplies, network devices,
GPS/PTP devices, and cleaning equipment. Please refer to all relevant specifications in the product's user manual, or contact Hesai technical
support. Using off-spec or unsuitable devices may result in product damage or even personal injuries.
Firmware and software upgrading
Make sure to use only the upgrade files provided by Hesai. Make sure to observe all the instructions provided for that upgrade file.
Customized firmware and software
•Before using a customized version of firmware and software, please fully understand the differences in functions and performance between the
customized version and the standard version.
•Make sure to strictly follow all the instructions and safety precautions provided for that customized version. If the product does not function as
anticipated, stop using the product immediately and contact Hesai technical support.
-8-

Point cloud data processing
•Certain product models support one or more point cloud data processing functions, including but not limited to: Noise Filtering, Interstitial
Points Filtering, Retro Multi-Reflection Filtering, and Non-Linear Reflectivity Mapping.
•These functions are configurable and are intended only to assist the user in extracting information from the point cloud data. Users are in full
control of whether to use any of these functions. Moreover, users are responsible for analyzing the product's intended application scenarios and
evaluating the risk of enabling one or more of these functions in combination.
•To learn about the supported functions of a product model, please contact Hesai technical support.
Repair and maintenance
For product repair or maintenance issues, please contact Hesai or an authorized Hesai service provider.
Repair
Unless expressly agreed to in writing by Hesai, do NOT disassemble, repair, modify, or retrofit the product by yourself or entrust any third party to
do so. Such a breach:
•can result in product damage (including but not limited to water resistance failure), property loss, and/or injuries;
•shall constitute a breach of warranty.
-9-

1. Introduction
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 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: Distance
c: Speed of light
t: Travel time of the laser beam
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1.2. Basic structure
The basic structure is shown in Figure 1. Partial cross-sectional diagram.
Multiple pairs of laser emitters and receivers are attached to a motor that rotates 360° horizontally.
Figure 1. Partial cross-sectional diagram
1.2.1. Side connector lidar
Figure 2. Coordinate system (isometric view) Figure 3. Lidar azimuthal position (top view)
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1.2.2. Bottom connector lidar
Figure 4. Coordinate system (isometric view) Figure 5. Lidar azimuthal position (top view)
•The lidar's coordinate system is illustrated in Figure 2. Coordinate system (isometric view) and Figure 4. Coordinate system (isometric view). Z-axis
is the axis of rotation.
•Lidar azimuthal position is defined in Figure 3. Lidar azimuthal position (top view) and Figure 5. Lidar azimuthal position (top view). Y-axis
corresponds to 0°.
•Each laser channel has an intrinsic azimuth offset. All channels are selected to define the lidar's azimuthal position.
For example, when all channels pass the 90° position:
•the lidar is at the 90° position;
•the Azimuth field in the corresponding data block in the Point Cloud Data Packet will be 90°.
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1.3. Channel distribution
The vertical resolution is 2° across the FOV, as illustrated in Figure 6. Channel vertical distribution (unit: mm).
1.3.1. Side connector lidar
•The optical center's exact position is shown as a yellow dot.
•The origin's exact position is shown as a red dot. All measurements are relative to the origin.
Figure 6. Channel vertical distribution (unit: mm) Figure 7. Laser emitter/receiver position (unit: mm)
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1.3.2. Bottom connector lidar
Figure 8. Channel vertical distribution (unit: mm) Figure 9. Laser emitter/receiver position (unit: mm)
1.3.3. Angle correction file
Each channel has an intrinsic vertical angle offset.
These angles are recorded in the angle correction file of this lidar, which is provided when shipping.
Angle correction file
In case you need to obtain this file again, please do one of the following:
•Send PTC command 0x05, as described in the TCP API Reference Manual (see Section 5 Communication protocol).
•Export the file using PandarView 2 according to PandarView 2 user manual.
•Contact sales representatives or technical support.
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1.4. Specifications
SENSOR
Scanning method Mechanical rotation
Number of channels 16
Instrumented range 0.05 to 120 m
Ranging capability ①80 m @10% reflectivity (Channels 5 to 12)
50 m @10% reflectivity (Channels 1 to 4, 13 to 16)
Ranging accuracy ②±1 cm (typical)
±2 cm (standard)
Ranging precision ③0.5 cm (typical, 1σ)
2 cm (standard)
Horizontal FOV 360°
Horizontal resolution 0.09° (5 Hz)
0.18° (10 Hz)
0.36° (20 Hz)
Vertical FOV 30° (–15° to +15°)
Vertical resolution 2°
Frame rate 5 Hz, 10 Hz, 20 Hz
Return mode Single Return: Last/Strongest/First
Dual Return: Last and Strongest, Last and First, First and Strongest
MECHANICAL/ELECTRICAL/OPERATIONAL
Wavelength 905 nm
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Laser class Class 1 Eye Safe
Ingress protection IP6K7
Dimensions Height: 76.0 mm (side connector) / 83.0 mm (bottom connector)
Top/bottom: Φ100.0/103.0 mm
Rated voltage range DC 9 to 36 V
Power consumption ④9 W
Operating temperature –20°C to 65°C
Storage temperature –40°C to 85°C
Weight 0.8 kg (side connector)
0.9 kg (bottom connector)
DATA I/O
Data transmission Ethernet
100BASE-TX, Slave Mode
Measurements Distance, azimuth angle, and reflectivity
Data points Single Return: Ê 320 000 pts/sec
Dual Return: Ê 640 000 pts/sec
Point cloud data rate Single Return: Ê 23.44 Mbps
Dual Return: Ê 46.88 Mbps
Clock source GPS/PTP
PTP clock accuracy ⑤≤1 μs
PTP clock drift ⑥≤1 μs/s
Specifications are subject to change. Please refer to the latest version.
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