Hesai PandarXT-16 User manual

www.hesaitech.com
PandarXT-16
16-Channel Medium-Range
Mechanical LiDAR
User Manual
HESAI Wechat

Doc Version: X02-en-2002A3
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....................................................................................................10
2.1 Mechanical Installation................................................................10
2.2 Interfaces......................................................................................13
2.3 Connection Box (Optional)..........................................................15
2.4 Get Ready to Use..........................................................................18
3Data Structure......................................................................................19
3.1 Point Cloud Data Packet..............................................................20
3.2 GPS Data Packet...........................................................................26
4Web Control.........................................................................................32
4.1 Home............................................................................................33
4.2 Settings.........................................................................................34
4.3 Azimuth FOV.................................................................................37
4.4 Operation Statistics......................................................................39
4.5 Upgrade........................................................................................40
5PandarView..........................................................................................41
5.1 Installation....................................................................................41
5.2 Check Live Data ............................................................................42
5.3 Record Point Cloud Data..............................................................43
5.4 Play Point Cloud Data...................................................................44
5.5 Features........................................................................................46
6Communication Protocol ....................................................................52
7Sensor Maintenance............................................................................53
8Troubleshooting..................................................................................55
Appendix I Channel Distribution.............................................................58
Appendix II Absolute Time and Laser Firing Time...................................59
Appendix III PTP Protocol........................................................................61
Appendix IV Power Supply Requirements...............................................63
Appendix V Nonlinear Reflectivity Mapping............................................65
Appendix VI Certification Info..................................................................70
Appendix VII Support and Contact..........................................................72

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SafetyNotice
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 product. The
product must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the product. 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 product 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 product disposal.
Handling
This product contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing,
and squeezing may cause damage to the product.
In case the product is dropped, STOP using the product immediately and contact Hesai technical support.
Enclosure
This product contains high-speed rotating parts. To avoid potential injuries, DO NOT operate the product if the enclosure is loose or damaged.
To ensure optimal performance, do not touch the product's enclosure with bare hands. If the enclosure is already stained, please refer to the
cleaning method in the Sensor Maintenance chapter of user manuals.
Eye Safety
Although the product meets Class 1 eye safety standards, DO NOT look into the transmitting laser through a magnifying product (microscope,
eye loupe, magnifying glass, etc.). For maximum self-protection, avoid looking directly at the product when it is in operation.
Repair
DO NOT open and repair the product without direct guidance from Hesai Technology. Disassembling the product 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 product'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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Hot Surface
During or after a period of operation, DO NOT touch the product's enclosure with your skin. Such direct contact with the hot surface can result in
discomfort or even burns. If you incorporate this LiDAR product into your product(s), you should also communicate the hot surface risks to the
intended users of your product(s).
Vibration
Strong vibration may cause damage to the product 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 product that prohibit or restrict the use of electronic devices. Although the product is designed,
tested, and manufactured to comply with the regulations on RF radiation, the radiation from the product may still influence electronic devices.
Medical Device Interference
Some components in the product 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(s) and whether you need to keep a safe distance from the product. If you suspect that the product is interfering with your medical device,
stop using the product immediately.
Explosive Atmosphere and Other Air Conditions
Do not use the product 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 product to high concentrations of industrial
chemicals, including liquefied gases that are easily vaporized (such as helium), can damage or weaken the product's function. Please observe
all the signs and instructions on the product.
Light Interference
Some precision optical instruments may be interfered by the laser light emitted from the product.

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1Introduction
This manual describes the specifications, installation, and data output format of PandarXT-16.
This manual is under constant revision. To obtain the latest version, please visit the Download page of Hesai's official website, or contact Hesai
technical support.
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 diffusely 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
Figure 1.1 Distance Measurement Using Time of Flight

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1.2 LiDAR Structure
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 illustrated in Figure 1.3. Z-axis is the axis of rotation.
The origin is shown as a red dot in Figure 1.6 on the next page. All measurements are relative to the origin.
When all channels pass the zero-degree position 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 2° across the FOV, as shown in Figure 1.5.
Figure 1.5 Channel Vertical Distribution
Figure 1.6 Laser Firing Position (Unit: mm)
Each channel has an intrinsic vertical angle offset.
The offsetted angles s are recorded in this LiDAR unit's calibration file, which is provided whenshipping the unit.
In case you need to obtain the file again:
· Send this TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION , as described in Hesai TCP API Protocol (Chapter 6).
· Or contact a sales representative or technical support engineer from Hesai.

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1.4 Specifications
SENSOR
MECHANICAL/ELECTRICAL/OPERATIONAL
Scanning Method
Mechanical Rotation
Wavelength
905 nm
Channel
16
Laser Class
Class 1 Eye Safe
Instrument Range
0.05 to 120 m
Ingress Protection
IP6K7
Range Capability
80 m @10% reflectivity (Channels 5-12)
Dimensions
Height: 76.0mm
50 m @10% (Channels 1-4，13-16)
Top/Bottom Diameter: 100.0 / 103.0 mm
Range Accuracy
±1 cm (typical)
Operating Voltage
DC 9 to 36 V
Range Precision
0.5 cm (typical)
Power Consumption
9 W (typical)
FOV (Horizontal)
360°
Operating Temperature
-20℃ to 65℃
Resolution (Horizontal)
0.09° (5 Hz)
Weight
0.8 kg
0.18° (10 Hz)
DATA I/O
0.36° (20 Hz)
Data Transmission
UDP/IP Ethernet (100 Mbps)
FOV (Vertical)
30° (-15° to +15°)
Data Outputs
Distance, Azimuth Angle, Intensity
Resolution (Vertical)
2°
Data Points Generated
Single Return: 320,000 points/sec
Frame Rate
5 Hz, 10 Hz, 20 Hz
Dual Return: 640,000 points/sec
Returns
Single Return (Last, Strongest)
Clock Source
GPS / PTP
Dual Return (Last and Strongest)
PTP Clock Accuracy
≤1 μs
CERTIFICATIONS
PTP Clock Drift
≤1 μs/s
Class 1 Laser Product
CE, FCC, FDA, IC, RCM, EAC, KCC
NOTE Specifications are subject to change. Please refer to the latest version.
NOTE Range Capability: 100 klux ambient intensity, PoD (probability of detection) > 90%, FAR (false alarm rate) < 10E-5.
NOTE Range accuracy and precision: may vary with range, temperature, and target reflectivity. The typical values are the average among
channels, measured outdoors within 0.5 ~ 70 m, under 30℃ ambient temperature, and with a target reflectivity of 50%.

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■ Range Accuracy
Definition: the average of the differences between multiple measurements and the target's true distance, measured by a single channel
Conditions: 30℃ ambient temperature, outdoors
-1.0
0.0
1.0
2.0
3.0
4.0
5.0
0.05 0.5 1 3 5 10 20 30 50 70 90
Accuracy(cm)
TargetDistance(m)
Accuracy@50%Reflectivity
RandomSample1
RandomSample2
RandomSample3
-1.0
0.0
1.0
2.0
3.0
4.0
5.0
0.05 0.5 13510 20 30 50 70 90
Accuracy(cm)
TargetDistance(m)
Accuracy@10%Reflectivity
RandomSample1
RandomSample2
RandomSample3
· Solid dot: average among channels
· Error bar: best and worst channels
· Measurements taken by the three
samples at the same distance (30 m) are
horizontally spaced apart for ease of view

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■ Range Precision
Definition: the standard deviation among multiple measurements, measured by a single channel
Conditions: 30℃ ambient temperature, outdoors
0.0
0.5
1.0
1.5
2.0
2.5
0.05 0.5 1 3 5 10 20 30 50 70 90
Precision(cm)
TargetDistance(m)
Precision@50%Reflectivity
RandomSample1
RandomSample2
RandomSample3
0.0
0.5
1.0
1.5
2.0
2.5
0.05 0.5 1 3 5 10 20 30 50 70 90
Precision(cm)
TargetDistance(m)
Precision@10%Reflectivity
RandomSample1
RandomSample2
RandomSample3

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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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■ Recommended Installation
Figure 2.3 Recommended Installation

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2.2 Interfaces
Lemo part number: EEG.0T.309.CLN (female socket, on the LiDAR)
From the eye to
the interface
Figure 2.4 Lemo Connector (Female Socket)
Pin #
Signal
Color
Voltage
Pin #
Signal
Color
Voltage
1
GPS PPS
BLACK
TTL 3.3/5 V
6
Ethernet TX-
GREEN
-1 to 1 V
2
GPS DATA
PURPLE
-13 to +13 V
7
Ethernet RX+
PINK
-1 to 1 V
3
GND
BROWN
0 V
8
Ethernet RX-
GRAY
-1 to 1 V
4
VIN
WHITE
9 to 36 V
9
-
-
-
5
Ethernet TX+
YELLOW
-1 to 1 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 bare hands

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■ Connector Use
Connection
Disconnection
· Turn off the power source
· Make sure red dot on the cable's plug faces upward
· Push the plug straight into the LiDAR's socket
· Turn off the power source
· Hold the plug's shell and pull the plug from the socket
NOTE
· DO NOT attempt to force open a connection by pulling on the cables 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 2.5 Lemo Connection
■ Cables
OD (outside diameter) = 5.0±0.2 mm
Minimum bend radius: 10 * OD
NOTE To avoid damaging the cable, do not bend the cable at the cable gland.
Beforeconnection:makesurethereddotfacesupward

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2.3 Connection Box (Optional)
Users may connect the LiDAR directly or using the connection box.
The connection box has a power port, a GPS port, and a standard Ethernet port.
Lemo part number: FGG.0T.309.CLAC50Z (male plug, on the connection box)
Figure 2.6 Connection Box (Unit: mm)

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2.3.1 Connection Box Interfaces
Figure 2.7 Connection Box (Front)
Figure 2.8 Connection Box (Back)
Port #
Port Name
Description
a
Standard Ethernet Port
RJ45, 100 Mbps Ethernet
b
Power Port
Connects to a DC power adapter
External power supply: 9 V to 36 V, at least 30 W
c
GPS Port
Connector partnumber: 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
-
Reserved
-

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2.3.2 Connection
.
Figure 2.9 Connection Box - Connection
NOTE Refer to Appendix III when PTP protocol is used.

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2.4 Get Ready to Use
Before operating the LiDAR, strip away the protective cover outside the enclosure.
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:
Input this 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" box, 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)
To obtain the SDKs (Software Development Kits) for your product model,
· please find the download link at: www.hesaitech.com/en/download (Product Documentation → select product model)
· or visit Hesai's official GitHub page: https://github.com/HesaiTechnology