Hesai Pandar128E3X User manual

www.hesaitech.com
Pandar128E3X
128-Channel Mechanical Lidar
User Manual
Classification: Public
Doc Version: 128-en-240110

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. Lidar structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê11
1.3. Channel distribution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê13
1.4. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê15
2. Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê18
2.1. Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê18
2.1.1. Quick installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê20
2.1.2. Stable installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê21
2.1.3. Notes on screw installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê22
2.2. Electrical interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê23
2.2.1. Pin description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê24
2.2.2. Connector use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê27
2.2.3. Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê28
2.3. Connection box (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê29

2.3.1. Connection box ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê30
2.3.2. Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê33
2.4. Network settings on the receiving host . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê35
2.5. Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê35
3. Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê36
3.1. Point Cloud Data Packet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê37
3.1.1. Ethernet header. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê37
3.1.2. Point cloud UDP data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê38
3.1.3. Point cloud data analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê48
3.2. GPS Data Packet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê51
3.2.1. Ethernet header. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê51
3.2.2. GPS UDP data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê52
3.2.3. Ethernet tail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê55
3.2.4. GPS time data analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê56
4. Web control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê57
4.1. Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê58
4.2. Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê61
4.2.1. Network settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê63
4.2.2. Function settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê65
4.2.3. Time settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê69
4.3. Azimuth FOV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê72
4.3.1. For all channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê73
4.3.2. Multi-Section FOV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê73
4.4. High resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê74
4.5. Operation statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê75
4.6. Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê76
4.7. Upgrade. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê77

4.8. Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê78
4.9. Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê79
4.9.1. Login control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê81
4.9.2. Secure connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê82
4.9.3. Point cloud signature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê84
4.9.4. Configure HTTPS environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê85
4.10. Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê88
5. Communication protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê89
6. Sensor maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê90
7. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê91
Appendix A: Channel distribution data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê95
Appendix B: Absolute time of point cloud data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê105
B.1. Source of absolute time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê105
B.1.1. GPS as the clock source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê105
B.1.2. PTP as the clock source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê106
B.2. Absolute time of Point Cloud Data Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê107
B.3. Start time of each block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê107
B.4. Laser firing time of each channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê108
Appendix C: Nonlinear reflectivity mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê129
C.1. Nonlinear Mapping 1# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê129
C.2. Nonlinear mapping 2#. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê134
Appendix D: Legal notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ê139

■ 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 (Please leave your questions under the corresponding GitHub projects.)
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.
-1-

■ 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 means to access 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. For example, the product generates significant noise or is visibly vibrating.
•If you or people in the nearby environment feel discomfort.
•If any device or equipment in the nearby environment malfunctions.
Meanwhile, contact Hesai Technology or an authorized Hesai Technology service provider for more information on product disposal.
Prohibition of disassembly
Unless expressly agreed to in writing by Hesai Technology, 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 bottom plate).
•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
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 such
products 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
•You are recommended to use only the cables and power adapters provided by Hesai Technology.
•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 Technology. Do NOT use off-spec or damaged cables or adapters.
-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.
•To prevent breakdowns, turn off the power source before connection and disconnection.
•If abnormalities already exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support.
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 NOT to 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 the Sensor Maintenance section of the user manual.
•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 a 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, do NOT keep flammable materials away from the product's enclosure.
•If a hot surface sign is provided on the product's enclosure, the product will be embedded into other equipment. Please make sure the sign is
not blocked from view. In case the sign is not visible from the outside, make sure to take effective measures to warn any third party of the hot
surface hazards.
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 Technology. 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 Technology or an authorized Hesai Technology service provider.
Repair
Unless expressly agreed to in writing by Hesai Technology, do NOT by yourself or entrust any third party to disassemble, repair, modify, or retrofit
the product. 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
-10-

1.2. Lidar structure
Figure 1. Partial cross-sectional diagram Figure 2. Coordinate system (isometric view) Figure 3. Lidar azimuthal position (top view)
1. 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 horizontally.
2. The lidar's coordinate system is illustrated in Figure 2. Coordinate system (isometric view).
◦Z-axis is the axis of rotation.
◦By default, the lidar rotates clockwise in the top view. To select counterclockwise rotation, use either web control or PTC commands.
◦The origin's exact position is shown in Figure 5. Laser firing position (unit: mm) as a red dot. All measurements are relative to the origin.
3. Lidar azimuthal position is defined in Figure 3. Lidar azimuthal position (top view).
◦Y-axis corresponds to 0°.
◦Each laser channel has an intrinsic azimuth offset. Channel 42 is selected to define the lidar's azimuthal position.
For example, when Channel 42 passes the 90° position:
•The lidar is at the 90° position.
-11-

•The Azimuth field in the corresponding data block in the Point Cloud Data Packet is 90°.
-12-

1.3. Channel distribution
All channels are unevenly distributed, as illustrated in Figure 4. Channel vertical distribution.
•Vertical resolution: See Section 1.4 Specifications.
•The design values of each channel's angular position: See Appendix A Channel distribution data.
•Channel number counts from 1, top to bottom.
Figure 4. Channel vertical distribution
-13-

Figure 5. Laser firing position (unit: mm)
Each channel has an intrinsic angle offset, both horizontally and vertically.
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 the 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.
-14-

1.4. Specifications
SENSOR
Scanning method Mechanical rotation
Number of channels 128
Ranging capability ①③ 0.3 to 200 m (at 10% reflectivity)
Range accuracy ②±8 cm (0.3 to 0.5 m, each channel)
±5 cm (0.5 to 1 m, each channel)
±2 cm (1 to 200 m, average)
Horizontal FOV 360°
Horizontal resolution ③Configurable on-the-fly
0.1°/0.2° (10 Hz)
0.2°/0.4° (20 Hz)
Vertical FOV 40° (–25° to +15°)
Vertical resolution 0.125° (Channel 26 to 90)
0.5° (Channels 2 to 26, 90 to 127)
1° (Channels 1 to 2, 127 to 128)
Frame rate 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
Laser class Class 1 Eye Safe
-15-

Ingress protection IP6K7 & IP6K9K
Dimensions Height: 123.7 mm
Top/bottom: Φ118.0/116.0 mm
Rated voltage range DC 9 to 48 V
Power consumption ④27 W (high-resolution mode)
23 W (standard mode)
Operating temperature –40℃ to 85℃
Storage temperature –40℃ to 85℃
Weight 1.63 kg
DATA I/O
Data transmission Standard 1000BASE-T or automotive 1000BASE-T1
Slave Mode by default
Measurements Distance, azimuth angle, and reflectivity
Valid data points Single Return: Ê 3 456 000 pts/sec (max)
Dual Return: Ê 6 912 000 pts/sec (max)
Point cloud data rate Single Return: Ê 134.64 Mbps (max)
Dual Return: Ê 269.28 Mbps (max)
Clock source GPS/PTP
PTP clock accuracy ≤1 μs
PTP clock drift ⑤≤1 μs/s
Specifications are subject to change. Please refer to the latest version.
-16-