Hesai Pandar40M User manual

www.hesaitech.com
403-en-2001A4
Pandar40M
40-Channel
Mechanical LiDAR
User Manual
HESAI Wechat

Contents
Safety Notice................................................................................................................. 1
1 Introduction............................................................................................................ 4
1.1 Operating Principle....................................................................................................4
1.2 LiDAR Structure...........................................................................................................5
1.3 Channel Distribution..................................................................................................6
1.4 Specifications ............................................................................................................... 7
2 Setup......................................................................................................................... 8
2.1 Mechanical Installation .............................................................................................8
2.2 Interfaces .....................................................................................................................12
2.3 Connection Box (Optional)....................................................................................13
2.4 Get Ready to Use......................................................................................................16
3 Data Structure ......................................................................................................17
3.1 Point Cloud Data Packet ........................................................................................18
3.2 GPS Data Packet .......................................................................................................22
4 Web Control .........................................................................................................28
4.1 Home ............................................................................................................................29
4.2 Settings ........................................................................................................................30
4.3 Azimuth FOV..............................................................................................................33
4.4 Operation Statistics..................................................................................................36
4.5 Upgrade.......................................................................................................................37
5 PandarView........................................................................................................... 38
5.1 Installation...................................................................................................................38
5.2 Use.................................................................................................................................39
5.3 Features........................................................................................................................41
6 Communication Protocol .................................................................................. 45
7 Sensor Maintenance ........................................................................................... 46
8 Troubleshooting .................................................................................................. 48
Appendix I Channel Distribution ........................................................................ 50
Appendix II Absolute Time and Laser Firing Time ......................................... 53
II.1 Absolute Time of Point Cloud Data Packets ...................................................53
II.2 End Time of Each Block ..........................................................................................53
II.3 Laser Firing Time of Each Channel......................................................................55
Appendix III PTP Protocol .................................................................................... 56
Appendix IV Phoenix Contact ............................................................................. 58
Appendix V Nonlinear Reflectivity Mapping................................................... 59
Appendix VI Certification Info............................................................................. 63
Appendix VII Support and Contact.................................................................... 64

1
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.)

2
■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.

3
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.

4
1 Introduction
This manual describes the specifications, installation, and data output format of Pandar40M.
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
40 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 12 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
·0.33°from Channel 6 to Channel 30
·1°from Channel 5 to Channel 6, and from Channel 30 to Channel 38
·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
(see Chapter 6).

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1.4 Specifications
SENSOR
MECHANICAL/ELECTRICAL/OPERATIONAL
Scanning Method
Mechanical Rotation
Wavelength
905 nm
Channel
40
Laser Class
Class 1 Eye Safe
Range
0.3 to 120 m (at 10% reflectivity)
Ingress Protection
IP6K7
Range Accuracy
±5 cm (0.3 to 1 m)
Dimensions
Height: 104.7 mm
±2 cm (1 to 120 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
15 W
FOV (Vertical)
40° (-25° to +15°)
Operating Temperature
-20℃to 65℃
Resolution (Vertical)
0.33° (-6° to +2°)
Weight
1.4 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 Mode: 720,000 points/sec
5° (-19° to -14°)
Dual Return Mode: 1,440,000 points/sec
6° (-25° to -19°)
Clock Source
GPS / PTP
Frame Rate
10 Hz, 20 Hz
PTP Clock Accuracy
≤1 μs
Returns
Single Return
PTP Clock Drift
≤1 μs/s
Dual Return (Strongest, Last)
CERTIFICATIONS
FDA, KCC, FCC
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.

8
2 Setup
2.1 Mechanical Installation
Figure 2.1 Front View (Unit: mm)

9
Figure 2.2 Bottom View (Unit: mm)

10
■ Quick Installation

11
■ 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, on the LiDAR)
From the eye to
the interface
Figure 2.3 Lemo Connector (Male)
Pin Description of the Lemo Connector:
Pin #
Function
Color
Voltage
1 ~ 4
-
-
-
5
Ethernet RX-
BLUE
-1 V to 1 V
6
Ethernet RX+
BLUE/WHITE
-1 V to 1 V
7
Ethernet TX-
ORANGE
-1 V to 1 V
8
Ethernet TX+
ORANGE/WHITE
-1 V to 1 V
9
GPS Serial Data
WHITE
-13 V to +13 V
10
GPS PPS
YELLOW
TTL level 3.3 V/5 V
Pulse width: 1 ms or longer is recommended
Cycle: 1 s (from rising edge to rising edge)
11
P12V
RED
12 V
12
P12V
GRAY
12 V
13
Ground (Return)
BLACK
0
14
Ground (Return)
GRAY/WHITE
0
15
-
PURPLE
-
16
-
PURPLE/WHITE
-

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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, and the cable diameter is 7.5±0.3 mm.
Lemo part number: PHG.2T.316.CLLC75Z (female, on the connection box)

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2.3.1 Connection Box Interfaces
Port #
Port Name
Description
a
Standard Ethernet Port
RJ45, 100 Mbps Ethernet
b
Power Port
Use DC-005 DC power adapter
Input voltage ranges from 9 V to 48 V. Power consumption is 15 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
Pulse width: 1 ms or longer is recommended
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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2.3.2 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-16.04:
For Windows:
Use the ifconfig command in the terminal:
~$ sudo ifconfig enp0s20f0u2 192.168.1.100
(replace enp0s20f0u2 with the local network 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, see Chapter 4 Web Control
The SDK (Software Development Kits) download links can be found at www.hesaitech.com/en/download

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3 Data Structure
100 Mbps Ethernet UDP/IP is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets.
Figure 3.1 Data Structure with UDP Sequence OFF
The UDP sequence feature is OFF by default. When UDP sequence is ON, the Additional Information in the UDP data changes from 22 bytes to 26 bytes.

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3.1 Point Cloud Data Packet
3.1.1 Ethernet Header
Each LiDAR has a unique MAC address.
The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form.
Point Cloud Ethernet Header: 42 bytes
Field
Bytes
Description
Ethernet II MAC
12
Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF)
Source: (xx:xx:xx:xx:xx:xx)
Ethernet Data Packet Type
2
0x08, 0x00
Internet Protocol
20
Shown in the figure below
UDP Port Number
4
UDP source port (0x2710, representing 10000)
Destination port (0x0940, representing 2368)
UDP Length
2
0x04F6 when UDP sequence is OFF, representing 1270 bytes (8 bytes more than the size of the Point Cloud
UDP Data, shown in Figure 3.1)
0x04FA when UDP sequence is ON, representing 1274 bytes
UDP Checksum
2
-
Figure 3.2 Point Cloud Ethernet Header –Internet Protocol