LSLIDAR C32W User manual

C32W
USER MANUAL
V4.0.3
2022.12
LeiShen Intelligent System Co., LTD
http://www.lslidar.com/

Safety Instruction
Before using the product, please read and follow the instructions of this manual
carefully, and refer to relevant national and international safety regulations.
∆Attention
Please do not disassemble or modify the lidar privately. If you need special
instructions, please consult our technical support staff.
∆Laser Safety Level
The laser safety of this product meets the following standards:
● IEC 60825-1:2014
● 21 CFR 1040.10 and 1040.11 standards, except for the deviations (IEC 60825-
1, third edition) stated in the Laser Notice No. 56 issued on May 8, 2019. Please
do not look directly at the transmitting laser through magnifying devices (such
as microscope, head-mounted magnifying glass, or other forms of magnifying
glasses).
Eye Safety
The product design complies with Class 1 human eye safety standards. However,
to maximize self-protection, please avoid looking directly at running products.
∆Safety Warning
In any case, if the product is suspected to have malfunctioned or been damaged,
please stop using it immediately to avoid injury or further product damage.
Housing
The product contains high-speed rotating parts, please do not operate unless
the housing is fastened. Do not use a product with damaged housing in case of
irreparable losses. To avoid product performance degradation, please do not
touch the photomask with your hands.
Operation
This product is composed of metal and plastic, which contains precise circuit
electronic components and optical devices. Improper operations such as high
temperature, drop, puncture or squeeze may cause irreversible damage to the
product.
Power Supply
Please use the connecting cable and matching connectors provided with the
lidar to supply power. Using cables or adapters that are damaged or do not meet

the power supply requirements, or supply power in a humid environment may
cause abnormal operation, fire, personal injury, product damage, or other
property loss.
Light Interference
Some precise optical equipment may be interfered with by the laser emitted by
this product, please pay attention when using it.
Vibration
Please avoid product damage caused by strong vibration. If the product's
mechanical shock and vibration performance parameters are needed, please
contact us for technical support.
Radio Frequency Interference
The design, manufacture and test of this product comply with relevant
regulations on radiofrequency energy radiation, but the radiation from this
product may still cause other electronic equipment to malfunction.
Deflagration and Other Air Conditions
Do not use the product in any area with potentially explosive air, such as areas
where the air contains high concentrations of flammable chemicals, vapours or
particles (like fine grains, dust or metal powder). Do not expose the product to
the environment of high-concentration industrial chemicals, including near
evaporating liquefied gas (like helium), so as not to impair or damage the product
function.
Maintenance
Please do not disassemble the lidar without permission. Disassembly of the
product may cause its waterproof performance to fail or personal injury.

Table of Contents
1. PRODUCT PROFILE ............................................................................................................... 1
1.1 OVERVIEW ............................................................................................................................ 1
1.2 MECHANISM ......................................................................................................................... 1
1.3 SPECIFICATIONS .................................................................................................................... 1
1.4 MECHANICAL STRUCTURE ................................................................................................... 2
1.5 LIGHT SPOT........................................................................................................................... 4
2. ELECTRICAL INTERFACE ...................................................................................................... 4
2.1 POWER SUPPLY..................................................................................................................... 4
2.2 CONNECTORS ....................................................................................................................... 5
3. GET READY............................................................................................................................... 9
3.1 LIDAR CONNECTION............................................................................................................. 9
3.2 SOFTWARE PREPARATION.................................................................................................... 9
4. USAGE GUIDE........................................................................................................................11
4.1 OPERATION UNDER WINDOWS OS..................................................................................11
4.1.1 Lidar Configuration ..................................................................................................11
4.1.2 Windows Client Interface.......................................................................................12
4.1.3 Operation Procedure...............................................................................................14
4.1.4 Point Cloud Data Parsing........................................................................................14
4.1.5 Parameter Config Example of Lidar Network Communication Mode ...........15
4.1.6 Note ............................................................................................................................17
4.2 ROS DRIVER OPERATION UNDER LINUX OS ...................................................................20
4.2.1 Hardware Connection and Test.............................................................................20
4.2.2 Software Operation Example.................................................................................21
5. COMMUNICATION PROTOCOL ......................................................................................22
5.1 MSOP PROTOCOL .............................................................................................................23
5.1.1 Format ........................................................................................................................23
5.1.2 Data Package Parameter Description ..................................................................24
5.2 DIFOP PROTOCOL.............................................................................................................26
5.3 UCWP PROTOCOL.............................................................................................................28
5.3.1 Configuration Parameters and Status Description............................................29
5.3.2 Configuration Package Example............................................................................31
6. TIME SYNCHRONIZATION ................................................................................................32
6.1 GPS SYNCHRONIZATION ...................................................................................................32
6.2 EXTERNAL SYNCHRONIZATION ..........................................................................................34
6.3 GPTP SYNCHRONIZATION .................................................................................................34
6.4 LIDAR INTERNAL TIMING....................................................................................................35

7. ANGLE AND COORDINATE CALCULATION .................................................................35
7.1 VERTICAL ANGLE ................................................................................................................35
7.2 HORIZONTAL ANGLE ..........................................................................................................36
7.2.1 Horizontal Angle Calculation of Single Echo Mode...........................................36
7.2.2 Horizontal Angle Calculation of Dual Echo Mode .............................................37
7.3 CARTESIAN COORDINATE REPRESENTATION ....................................................................39
7.4 JUDGMENT OF ONE FRAME OF DATA ...............................................................................40
8. ACCURATE TIME CALCULATION.....................................................................................40
8.1 CALCULATION OF DATA PACKET END TIME......................................................................40
8.2 ACCURATE TIME CALCULATION OF CHANNEL DATA........................................................41
8.2.1 End Time of Data Block ..........................................................................................41
8.2.2 Calculate the Accurate Time of Channel Data ...................................................41
APPENDIX A. MAINTENANCE ..............................................................................................43
APPENDIX B. POWER SUPPLY REQUIREMENTS ............................................................44

1
1. Product Profile
1.1 Overview
The C32W lidar realizes 360° three-dimensional high-speed scanning with 32
laser beams. It reaches a detection distance of up to 50 m and measurement
accuracy of ±3 cm. This lidar sensor is widely used in unmanned driving,
automotive ADAS, intelligent transportation, service robot, logistics, surveying
and mapping, security, industry, ports and other fields.
1.2 Mechanism
The C32W mechanical lidar adopts the Time of Flight method. The lidar starts
timing (t1) when the laser pulses are sent out. And when the laser encounters
the target object and the light returns to the sensor unit, the receiving end stops
timing (t2).
Distance = Speed of Light*(t2 – t1)/2
Figure 1.1 Time of Flight
1.3 Specifications
Table 1.1 Specifications
Model
C32W
Detection Method
ToF
Wavelength
905 nm
Laser Class
Class 1 (eye-safe)
Channels
32

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Detection Range
50 m @10%; 100 m @70%
Range Accuracy
±3 cm
Data Point Generated
(Single Echo Mode)
About 600,000 pts/sec
FOV
Vertical
-55°~+15°
Horizontal
360°
Angular
Resolution
Vertical
Minimum 1.33° (Nonuniform Distribution)
Horizontal
5 Hz: 0.09º / 10 Hz: 0.18º / 20 Hz: 0.36º
Scanning Rate
5 Hz / 10 Hz / 20 Hz
Communication
Interface
Ethernet / PPS
Operating Voltage
+9 V～+36 VDC
Operating Temperature
-20℃～+60℃
Storage Temperature
-20℃～+85℃
Shock Test
500 m/sec², lasting for 11 ms
Vibration Test
5 Hz～2000 Hz, 3G rms
IP Grade
IP67
Dimensions
Ф102 mm*102 mm
Weight
≤1500 g
1.4 Mechanical Structure
The C32W lidar is equipped with 32 pairs of laser transmitter and receiver
modules. Its motor is driven at a rotation speed of 5 Hz/10 Hz/20 Hz to cover a
360° scan range.
Figure 1.2 Coordinates & Scanning Direction
Note: As shown above, the cable connector of the lidar marks its zero-angle
position. (It can be changed to the opposite of the cable connector in the

3
Windows Client software.) When the laser beams pass through the position of
the cable connector, the azimuth angle of the corresponding data block in the
output UDP packet is 0°.
The vertical FOV is +15° to -55°. And the optical centre is at 33.87 mm on the
central axis.
Figure 1.3 C32W Mechanical Drawing
Figure 1.4 C32W Dimensions
Figure 1.5 C32W Lidar Base

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Note: Excessive temperatures have an impact on the life of the lidar. Please
ensure that the lidar is at the correct operating temperature. If the operating
temperature exceeds 38°C or if the lidar is exposed to the sun for a long period
of time, it is important to use it with a heat sink. You can contact us for cooling
solutions.
1.5 Light Spot
The light spot of C32W lidar is a vertical oval. Its vertical divergence angle is 8.7
mrad, and the horizontal divergence angle is 5.7 mrad. The spot size at any
distance can be calculated by multiplying the divergence angle by the distance.
For example, the calculation of a spot at 10 m is as follows：
Vertical direction at 10 m: 10*8.7*10-3=87 mm
Horizontal direction at 10 m: 10*5.7*10-3=57 mm
Figure 1.6 Light Spot Demonstration
2. Electrical Interface
2.1 Power Supply
This lidar’s power input range is 9 V～36 VDC. If other DC power supply is
adopted, the recommended output voltage is 12 V, 19 V, 24 V or 32 VDC. The
output power should be ≥30 W (the lidar requires a large instantaneous current
to start, and a small starting current may cause its failure to start normally). The
output ripple noise should be <100mV (Vp-p) and output voltage accuracy <5%.
The higher the power supply voltage and the stronger the discharge capacity,
the more severe the impact on the lidar. Before mounting the lidar, please
contact our technical support personnel for power supply environment
evaluation to avoid damage.
The length of the lidar power supply cable is 5~10 m, and the power supply

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voltage needs to be over 19 V. If the power cable is more than 10 m long, then
it is recommended to use a 220 VAC adapter to supply power (DC long-distance
power supply is not recommended). This information is based on experience and
is for reference only. For specific power supply environment requirements,
please refer to Appendix B: Power Supply Requirements for details.
Table 2.1 Electrical Parameter
Item
Min.
Recommended
Max.
Note
Supply
Voltage
9 V
12 V/19 V
/24 V/32 V
36 V
If the power supply voltage is not
within this range, it may cause
inaccurate ranging or irreversible
damage. It is not allowed to use a
power supply lower than 9 V or higher
than 32 V for long-term power supply.
The output power of the power supply
should be at least 25 W.
Ripple
-
-
100 mV
The smaller the ripple, the better. Too
much ripple will cause irreversible
damage to the hardware.
Working
Current
-
900 mA
1500
mA
12 V power supply at 10 Hz
recommended. When scanning at 20
Hz, the lidar power consumption will
also be higher than the recommended
value.
GPS PPS
-13 V
13 V
The period is 1 second, the
recommended pulse width is more
than 1 ms.
GPS REC
-13 V
13 V
RS232 level, baud rate 9600 bps,
compatible with TTL and RS232 level.
2.2 Connectors
Male connector on the lidar base
There is an 8-pin male connector on the side of the C32W lidar base, whose
model is L102-M12-Z08A118. You can use an extension cable with a female
connector or an adapter cable to lead out the wires to achieve system power
supply and data communication. The lidar supports GPS timing function, and the
cable connector is shown in Figure 2.1 below.
Figure 2.1 Cable Connector on the Lidar Base