quanergy M8 User manual

M8 Sensor User Guide

M8 Sensor User Guide, QPN 96-00001 Rev K Page 2
Notices
Copyright © 2018, Quanergy Systems, Inc. All rights reserved.
This document is protected by copyright law, whereby all rights established therein remain
with Quanergy Systems, Inc. Reproduction of this document or parts of this document,
without permission from Quanergy, is only permissible within the limits of applicable
copyright law. Alteration or abridgement of the document is not permitted without the
explicit written approval of Quanergy.
QUANERGY, the QUANERGY Logo, QORTEX DTC and associated logos, M8, and Q-VIEW
are all trademarks of Quanergy Systems, Inc. All other trademarks are the property of their
respective owners.
ISO 9001:2015 Certified
Contact
Quanergy Systems, Inc.
482 Mercury Drive
Sunnyvale, CA 94085-4706
http://quanergy.com
For purchases made directly from Quanergy:
contact [e-mail]
For purchases from a third party such as
value-added reseller/system integrator:
contact them for support
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M8 Sensor User Guide, QPN 96-00001 Rev K Page 3
Revision History
Version
Date
What Changed
A
12/04/15
Released.
B
03/25/16
Complete revision: Updated fonts, most sections, GPS/IMU module list, and
Figure 1, Figure 4, Figure 7, Figure 14, Figure 21, Figure 41, Figure 51.
Added Tables 1-3, Figure 16, Figure 15, Figure 23, and back cover.
C
08/25/16
Complete revision for sensor Rev B1: Fixed errors (Table 3, Figure 23).
Updated figures and contact information. Added ISO certification, VMware
procedures for SDK, NMEA input signal, sensor M12 3-pin connector, and
manufacturing label. Rearranged sections to improve procedural flow.
D
10/31/16
Updated for sensor Rev C. Added legal caution (p7). Updated Table 4, Table 5,
cleaning procedure (p64), and PPS/NMEA configuration text. Moved sensor
integration procedure via VM/SDK to Sensor SDK User Guide for Ubuntu.
E
11/28/16
Updated “Packets” section for sensor Rev C, removed legacy “Access SDK” and
“Check Network” sections, improved Appendix 1, added Appendix 3.
F
03/24/17
Complete revision for sensor Rev D1, amending Figure 23 to show new
counter-clockwise laser firing configuration. Added overview of Q-View tool,
Figure 2, Figure 3, Figure 4, Figure 19, Figure 20, Figure 22, and Table 14.
Changed most M8-1 designations to refer to product family (M8) rather than
specific model number (M8-1). Added URLs for downloadable documents.
Updated front/back matter, “Physical Safety” and “Getting Started” sections,
Appendix 3, Figure 1, Figure 4, Figure 7, Figure 21, Figure 51, Table 1,
and Table 3. Fixed frame rate and references to the MAC address.
Omitted the Complete Minimal Working System table.
G
04/17/17
Revised sensor Rev D1 startup procedures because the sensor is now factory-
delivered in a static IP configuration, and added Figure 18 and Figure 20
Sensor Static IP Address.
H
07/31/17
Updated for sensor Rev D3, with new multi-return feature (Figure 5).
Updated “Introducing the Sensor,” Table 4, Table 5, Figure 1, Figure 7,
Figure 20, Figure 21, Figure 22, Figure 51, and Figure 52 due to improved
manufacturing label, consistent IP addresses, and depiction of beam angles.
Updated Troubleshooting section, referring to sensor diagnostics and versions.
Updated Table 3, Appendix 1 list of Quanergy-supported GPS/IMU modules.
Amended the M8 sensor voltage range in Appendix 3.

M8 Sensor User Guide, QPN 96-00001 Rev K Page 4
Version
Date
What Changed
J
04/27/18
Updated for sensor Rev D4: better network connectivity, sensor startup.
Updated for sensor Rev D5: better near range and intensity (21), options for
reduced power/bandwidth (47-48), status indicators (54), remote reboot (58).
Omitted documents roadmap, ceiling-mounted scenario, and QPU references.
Revised ripple power (16), Appendix 1 (66), and Appendix 2 (77).
Added “ASTM G154” (12), M8 models (19), “Power over Ethernet” (17),
“Intensity” (21), cross-talk prevention (26), “Managing the Sensor” (formerly
M8 Sensor Settings User Guide) (38-60), sensor-mounting accessories (77-85),
end-of-life Q&A (87), and Index (88).
K
08/31/18
Updated for sensor Rev D4 with patch updating Base firmware to 7.03.
Added trademarks to the Notices (2) and Pulse Width specs in Table 12 (67).
Updated Intensity (21), web server (38, 47, 48, 54, 58), static IP reset (59-60),
and software status definitions in Table 11 (62-64).

M8 Sensor User Guide, QPN 96-00001 Rev K Page 5
Contents
Notices..................................................................................................................................2
Contact .................................................................................................................................2
Follow Us! .............................................................................................................................2
Revision History.....................................................................................................................3
Contents ...............................................................................................................................5
Figures..................................................................................................................................9
Tables .................................................................................................................................10
Important Safety Notices ..............................................................................................11
Caution! ..............................................................................................................................11
Operating Safety.................................................................................................................11
Physical Safety ....................................................................................................................11
Compliances .......................................................................................................................12
ASTM G154 ....................................................................................................................................12
CE Compliance...............................................................................................................................12
FCC Compliance ............................................................................................................................12
FDA Compliance ............................................................................................................................12
IEC/EN Safety Compliance ............................................................................................................13
IP69K Compliance ..........................................................................................................................13
RoHS Compliance ..........................................................................................................................13
WEEE Compliance .........................................................................................................................13
1. Getting Started ........................................................................................................14
M8 Sensor...........................................................................................................................14
Complete Minimal Working System....................................................................................15
Interface Cable ...............................................................................................................................15
Power Source..................................................................................................................................16
Proper Disconnect ........................................................................................................................ 16
Power Supply ................................................................................................................................ 16
Power over Ethernet ..................................................................................................................... 17
Computing Environment with Tools and Solutions........................................................................17
User-Provided Items............................................................................................................18
Support Documents............................................................................................................18
2. Introducing the Sensor.............................................................................................19
Applications........................................................................................................................19
Features ..............................................................................................................................19
Models................................................................................................................................19
NMEA and PPS Inputs.........................................................................................................19
Multiple Returns..................................................................................................................20
Evaluation Rules .............................................................................................................................20
Intensity ..........................................................................................................................................21

M8 Sensor User Guide, QPN 96-00001 Rev K Page 6
3. Mounting the Sensor................................................................................................22
Options...............................................................................................................................23
Scenarios ............................................................................................................................23
Vehicle Grill-Mounted Scenario .....................................................................................................23
Vehicle Rack-Mounted Scenario.....................................................................................................24
Indoor Tripod-Mounted Scenario ..................................................................................................24
Side-Mounted on Drone Scenario .................................................................................................25
Wall-Mounted Security Scenario....................................................................................................25
Multi-Sensor Scenario.....................................................................................................................26
Connectors and Pins ...........................................................................................................27
4. Integrating the Sensor .............................................................................................29
Connect the Sensor ............................................................................................................29
Find the Serial Number and IP Address ..............................................................................31
Hardware Label Reveals Serial Number.........................................................................................31
Q-View Software Reveals Serial Number and IP Address..............................................................31
M8 Sensor Settings Management Application Reveals Serial Number and Versions ...................32
Terminal Command Reveals Serial Number and IP Address.........................................................32
5. Getting TCP Ethernet Packets .................................................................................33
Variable Definitions.............................................................................................................33
For All Three Returns......................................................................................................................34
For Reduced Return .......................................................................................................................35
Timestamp..........................................................................................................................36
Laser Firing .........................................................................................................................36
Beam Angles.......................................................................................................................36
6. Managing the Sensor ...............................................................................................38
Introducing the Web Server ................................................................................................39
Opening the Web Server ....................................................................................................40
M8 Sensor Tab....................................................................................................................42
Login...............................................................................................................................................42
Welcome ........................................................................................................................................43
Settings Tab........................................................................................................................44
Edit Settings ...................................................................................................................................44
Frame Rate .................................................................................................................................... 44
Scan Field ...................................................................................................................................... 46
Low Power Spinup ........................................................................................................................ 47
Return Data Select ........................................................................................................................ 48
Ring Settings ................................................................................................................................. 48
GPS Settings ................................................................................................................................. 49
Reset Settings.................................................................................................................................50
Edit Network...................................................................................................................................51
Admin Tab ..........................................................................................................................52

M8 Sensor User Guide, QPN 96-00001 Rev K Page 7
My Account Tab..................................................................................................................53
Change Password...........................................................................................................................53
editor Logout..................................................................................................................................54
Status Tab...........................................................................................................................54
Versions Tab .......................................................................................................................56
Reboot Tab.........................................................................................................................58
Reset a Static IP Address.....................................................................................................59
Closing the Web Server ......................................................................................................60
7. Taking the Next Steps..............................................................................................61
8. Stopping the Sensor ................................................................................................61
Shut Down ..........................................................................................................................61
Restart.................................................................................................................................61
9. Troubleshooting Issues ............................................................................................62
Check the Status.................................................................................................................62
Perform Cleaning................................................................................................................64
Resolve an Issue..................................................................................................................64
Check an Issue ....................................................................................................................64
Report an Issue ...................................................................................................................65
Appendix 1: Use of NMEA/PPS Signals.........................................................................66
Concepts and Specifications...............................................................................................66
Purpose of NMEA...........................................................................................................................66
Purpose of PPS ...............................................................................................................................67
Electrical Interface and Transmission Settings ...............................................................................67
Mechanical Interface ......................................................................................................................68
Data Communication .....................................................................................................................69
$GPRMC NMEA Sentence ........................................................................................................... 69
$GPZDA NMEA Sentence............................................................................................................ 70
Procedures..........................................................................................................................71
Connect Single Sensor to the GPS Receiver..................................................................................71
Connect Multiple Sensors to the GPS Receiver .............................................................................72
Configure the GPS Settings ...........................................................................................................73
PPS Signal...................................................................................................................................... 74
NMEA Signal................................................................................................................................. 74
Baud Rate Synchronization........................................................................................................... 74
Synchronize Sensor with GPS Timestamp......................................................................................74
Windows or Ubuntu Without ROS Driver.................................................................................... 74
Ubuntu With ROS Driver. ............................................................................................................. 74
Check the GPS Signal Lock ............................................................................................................76
For M8 Sensor Rev D5 .................................................................................................................. 76

M8 Sensor User Guide, QPN 96-00001 Rev K Page 8
Appendix 2: Sensor Mounting and Accessories ............................................................77
Sensor Dimensions..............................................................................................................77
Base Plate Dimensions........................................................................................................78
Accessory for Mounting ......................................................................................................78
Accessory for Weather Shielding ........................................................................................79
Installation of Accessories ...................................................................................................80
Gather Resources ...........................................................................................................................80
Apply Force ....................................................................................................................................80
Determine Which Mounting Surface..............................................................................................80
Mounting to a Pole ....................................................................................................................... 81
Mounting to a Flat Surface........................................................................................................... 82
Address Environmental Concerns ..................................................................................................83
With the Adjustable Mount.......................................................................................................... 83
Without the Adjustable Mount .................................................................................................... 83
Add the Sensor...............................................................................................................................84
Adjust Pitch and Roll ......................................................................................................................84
Pitch Adjustment........................................................................................................................... 84
Roll Adjustment............................................................................................................................. 84
Appendix 3: Frequently Asked Questions.....................................................................86
Index..............................................................................................................................88

M8 Sensor User Guide, QPN 96-00001 Rev K Page 9
Figures
Figure 1. Sensor Manufacturing Labels.....................................................................................14
Figure 2. Sensor Interface Cable Provided with M12 IP67-Rated Female Connector................15
Figure 3. AC/DC Power Adapter (bottom) and Cable (top).......................................................16
Figure 4. M8 LiDAR Sensor.......................................................................................................19
Figure 5. Sensor Emitting a Single Beam (for example) with Multiple Returns ..........................20
Figure 6. Point Cloud Produced by M8 Sensor Rev D5 Reveals Intensity..................................21
Figure 7. Permanent Mounting Base (round), Detachable Base Plate (rectangular)...................22
Figure 8. Vehicle Grill-Mounted Sensor ....................................................................................23
Figure 9. Vehicle Rack-Mounted Sensor with User's Custom Base Plate...................................24
Figure 10. Indoor Tripod-Mounted Sensor with Detachable, Rectangular Base Plate...............24
Figure 11. Drone with Side-Mounted Sensor ............................................................................25
Figure 12. Wall-Mounted for Security .......................................................................................25
Figure 13. Multi-Sensor Scenario ..............................................................................................26
Figure 14. Sensor Cable M19 (left), Interface M19 (center), Interface Sub-Cables (right) ..........27
Figure 15. Sensor Cable Connector Wire Color (left), J1/J2/Sub-Cable Connectivity (right) .....27
Figure 16. M19 Pinout and Photo .............................................................................................28
Figure 17. M12 3-Pin Pinout and Photo ....................................................................................28
Figure 18. Sensor Connections with Static IP Address ..............................................................29
Figure 19. Sensor Connections with Dynamic IP Address .........................................................30
Figure 20. Sensor Serial Number on Detachable Base Plate (left), Mounting Base (right) .........31
Figure 21. Finding the Sensor IP Address from the Command Line, Pinging Sensor ................32
Figure 22. Laser Beam Angles ..................................................................................................36
Figure 23. Laser Firing Position (Top-Down View).....................................................................37
Figure 24. Creating a Network on Non-Ubuntu Machine..........................................................40
Figure 25. Creating a Network on Windows 7 Machine............................................................41
Figure 26. Web Server: M8 Sensor Tab's Login Mode..............................................................42
Figure 27. Web Server: M8 Sensor Tab's Welcome Mode........................................................43
Figure 28. Web Server: Settings Tab’s Menu Items ..................................................................44
Figure 29. Web Server: Settings Tab’s M8 Settings Edit (top), Rings (right), GPS (bottom).......45
Figure 30. Usage-Based Sensor Placement Improves Results ...................................................46
Figure 31. Web Server: Settings Tab’s Reset Message (left), Reboot Message (right)...............50
Figure 32. Web Server: Settings Tab’s Network Settings (left), Static IP (bottom), Reboot (top)52
Figure 33. Web Server: Admin Tab...........................................................................................52
Figure 34. Web Server: My Account Tab's Change Password and editor Logout Items............53
Figure 35. Web Server: My Account Tab's Change Passwords Fields.......................................53
Figure 36. Web Server: M8 Status Tab .....................................................................................54
Figure 37. Web Server: M8 Sensor Status Tab’s Report............................................................55
Figure 38. Web Server: Versions Tab's Report of Associated Software.....................................56
Figure 39. Web Server: Reboot Tab's Confirmation Page.........................................................58
Figure 40. Creating a Network Environment for Fail Safe Mode...............................................59
Figure 41. Power Indicator on the AC/DC Power Adapter........................................................64

M8 Sensor User Guide, QPN 96-00001 Rev K Page 10
Figure 42. View Sensor through IR Scope (left) to See Sensor Flash+Reflection (right) .............65
Figure 43. NMEA/PPS Input Voltages.......................................................................................68
Figure 44. NMEA/PPS/Ground Communication .......................................................................68
Figure 45. NMEA/PPS Signals Synchronized on Single Sensor .................................................71
Figure 46. NMEA/PPS Signals Synchronized on Multiple Sensors.............................................72
Figure 47. NMEA/PPS Signals Distributed by PRL-414B-BNC Buffer Amplifier.........................72
Figure 48. Normal Alignment: Positive PPS (top), Active Low NMEA (bottom) .........................73
Figure 49. Web Server: GPS Settings........................................................................................73
Figure 50. Web Server: Status Tab Report for GPS and UTC Timestamp..................................76
Figure 51. M8 Sensor Mounting Drawing of Sensor..................................................................77
Figure 52. M8 Sensor Mounting Drawing of Rectangular Base Plate ........................................78
Figure 53. M8 Sensor Adjustable Mount Accessory..................................................................78
Figure 54. M8 Sensor Weather Shield Accessory......................................................................79
Figure 55. Adjustable Mount’s Pole Clamp...............................................................................81
Figure 56. Adjustable Mount’s Back Plate.................................................................................82
Figure 57. Weather Shield Installation ......................................................................................83
Figure 58. Adjustable Mount’s Roll Adjustments ......................................................................85
Figure 59. Adjustable Mount’s Pitch Adjustments ....................................................................85
Tables
Table 1. M8 Sensor...................................................................................................................14
Table 2. AC/DC Power Adapter Specifications .........................................................................16
Table 3. User-Provided Items....................................................................................................18
Table 4. Variable Definitions for M8 Packet ..............................................................................34
Table 5. Variable Definitions for the Packet Data......................................................................34
Table 6. Variable Definitions for M8 Packet ..............................................................................35
Table 7. Variable Definitions for the Packet Data......................................................................35
Table 8. Features Introduced in Each Revision of the Sensor (M8) and Web Server (WS) .........38
Table 9. Web Server: Scan Field Specifications Based on Sensor Placement............................47
Table 10. Web Server: M8 Software Version Definitions...........................................................57
Table 11. Web Server: M8 Software Status Definitions .............................................................62
Table 12. Electrical and Transmission Specifications.................................................................67
Table 13. NMEA $GPRMC Sentence Decoded.........................................................................69
Table 14. NMEA $GPZDA Sentence Decoded .........................................................................70

M8 Sensor User Guide, QPN 96-00001 Rev K Page 11
Important Safety Notices
Caution!
Use of controls or adjustments or
performance of procedures other than
those specified herein may result in
hazardous radiation exposure.
Operating Safety
The exclamation point icon alerts the reader to the presence of general safety warnings as well as
important operating and maintenance instructions in the product documentation.
1.
Read
all safety and operating instructions before operating the product.
2.
Retain
all safety and operating instructions for future reference.
3.
Follow
all warnings and operating instructions on the product and in the operating
instructions.
4.
Service
tasks are for authorized support representatives only. Do not attempt to
modify or service the product.
Physical Safety
The M8™ LiDAR sensor has achieved compliance with several certifying agencies.
Do not modify the unit, remove its cover, disassemble it, or attempt to service it. No scheduled
maintenance is necessary to keep the product in compliance.
If there are visible defects or damage to the M8 LiDAR sensor, contact your service
representative for all service or repair issues, or questions about safety. Refer all servicing
and repairs of the sensor to authorized support representatives.
Do not open the sensor!
Per terms of sale, purchaser
agrees to not reverse assemble,
disassemble, or modify the
sensor, nor to allow a
third party to do so.

M8 Sensor User Guide, QPN 96-00001 Rev K Page 12
Compliances
Quanergy’s M8 LiDAR sensor has been tested and found to comply with the standards and
specifications of several organizations.
ASTM G154
This product complies with standard practices for operating fluorescent Ultraviolet (UV)
lamp apparatus in the exposure of nonmetallic materials. Tests reproduced and measured
the weathering effects that occur when materials are exposed to sunlight, either directly or
through window glass.
CE Compliance
This product complies with the essential requirements of the relevant European health,
safety, and environmental protection legislation as stated in the Harmonized Standards,
which are the technical specifications established by European standards agencies,
including CEN and CENELEC.
FCC Compliance
This equipment has been tested and found to comply with the limits for a Class B digital
device, pursuant to part 15 of the FCC Rules: FCC Part 15B/ICES-003/EN 61326-1 Class B
testing and report. These limits are designed to provide reasonable protection against
harmful interference in a residential installation. This equipment generates, uses, and can
radiate radio frequency energy and, if not installed and used in accordance with the
instructions, may cause harmful interference to radio communications. However, there is no
guarantee that interference will not occur in a particular installation. If this equipment does
cause harmful interference to radio or television reception, which can be determined by
turning the equipment off and on, the user is encouraged to try to correct the interference
by one or more of the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to which the
receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.
FDA Compliance
The M8 LiDAR sensor is designated Class 1
(eye safe) during all procedures of operation,
having satisfied IEC AEL and MPE emission
requirements per IEC 60825-1 8.4F and 13.3.
Complies with US FDA performance standards for
laser products except for deviations pursuant to
Laser Notice No. 50, dated June 24, 2007. CLASS 1
LASER PRODUCT EN/IEC 60825-1 Ed 3 2014, E.U. &
JAPAN IEC 60825-1 Ed 2 2007 USA.

M8 Sensor User Guide, QPN 96-00001 Rev K Page 13
IEC/EN Safety Compliance
The M8 LiDAR sensor passed rigorous safety testing in compliance with IEC/EN 61010-1-
2010 Safety Standard by ensuring full safety and protection against electric shock, fire or
burns and mechanical hazards. IEC/EN 61010-1-2010 Safety Standard provides added
value for the CE marking and recognition well beyond European countries.
The M8 LiDAR sensor was assessed to meet applicable requirements per the IEC60079-15
standard for ensuring that an electrical apparatus is sufficiently protected from igniting a
surrounding explosive gas atmosphere.
IP69K Compliance
The M8 LiDAR sensor passed Water and Dirt/Dust Ingress Tests in compliance with the
IEC 60529 IP69K specification.
RoHS Compliance
Bills of Material components of Quanergy’s 3D M8 LiDAR sensor have been reviewed for
RoHS2 and found to be in compliance with the European Union (EU) Directive EU RoHS-2
Directive 2011/65/eu.
WEEE Compliance
The 3D M8 LiDAR sensor has been reviewed and analyzed through WEEE Recovery,
Reuse, Recycle and found to be in compliance with the European Union (EU) Directive for
Waste Electrical and Electronic Equipment (WEEE).
NOTE: RoHS and WEEE Requirements pertain to Restriction of
Hazardous Substances (6/6) Compliance with Environmental
procedure 020499-00, primarily focused on Restriction of
Hazardous Substances (ROHS Directive 2002/95/EC) and Waste
Electrical and Electronic Equipment (WEEE Directive
2002/96/EC). The six hazardous and restricted substances in the
RoHS2 directive as outlined in Annex II with maximum
concentration values tolerated by weight to homogeneous
materials are: Lead (0.1%), Mercury (0.1%), Cadmium (0.01%),
Hexavalent chromium (0.1%), Polybrominated biphenyls
(0.1%), and Polybrominated diphenyl ethers (PBDE) (0.1%).

M8 Sensor User Guide, QPN 96-00001 Rev K Page 14
1. Getting Started
The M8 sensor does not operate on its own; it requires a complete system involving
additional parts to operate and collect data, as explained in the following subsections.
This manual assumes the user will purchase those parts from Quanergy and/or assemble
their own for a complete working system.
M8 Sensor
The M8 sensor includes all hardware listed in Table 1, plus two documents: M8 Sensor
Quick Start Card (https://quanergy.desk.com/customer/portal/articles/2687032) and the
Documents list (https://quanergy.desk.com/customer/portal/articles/2725667) of links to
additional Quanergy user guides. If any expected item is missing or damaged upon arrival,
contact your support representative.
Table 1. M8 Sensor
Item
Image
M8 sensor
Detachable rectangular base plate, which arrives pre-attached to the
sensor with four screws
3-foot sensor cable; one end is permanently wired to the sensor, and
the other end is the M19 IP67-rated dust- and water-proof connector
(pin assignments are discussed on pages 27-28)
IP67-rated M19 Female connector if needed to assemble a custom
interface cable (pin assignments are discussed on pages 27-28)
Manufacturing label, which
combines three labels (including
model Core/Plus/Ultra, revision, and
serial number), as shown in Figure 1:
• Manufacturer Label
• Explanatory Label
• Certification Label
Figure 1. Sensor Manufacturing Labels

M8 Sensor User Guide, QPN 96-00001 Rev K Page 15
Complete Minimal Working System
Several items must be provided in addition to what
is listed in Table 1, but the definition of a
complete minimal working M8 LiDAR system
depends on how the sensor will be used.
Interface Cable
The M8 sensor cable ends with an M19 IP67-
rated dust- and water-proof connector, but the
sensor needs to connect to power, the network,
and possibly other devices such as a GPS/IMU
module. There are two options for completing the
cable:
1. Assemble a custom interface cable suited to these cable connections, using the
provided M19 IP67-rated connector shown in Table 1 and the specifications in the
“Connectors and Pins” section on pages 27-28.
2. Purchase a specialized Quanergy sensor interface cable as shown in Figure 2 (typically
15-foot length, with other lengths available upon request), which connects to the
sensor cable, and the other end divides into three sub-cables:
• Ethernet sub-cable with RJ45 connector (attaches to a computer’s network port, or to
an external Ethernet switch).
• Power sub-cable with ferrule connector (attaches to power adapter; see Table 2).
• A sub-cable with M12 3-pin connector (attaches to ground and NMEA/PPS signals from
optional user-supplied GPS receiver, as explained in “Appendix 1: Use of
NMEA/PPS Signals”). (If it is necessary to construct an additional GPS interface
cable, an extra M12 IP67-rated female connector (Figure 2 and pages 27-28) is
provided with the sensor interface cable.
Figure 2. Sensor Interface Cable Provided with M12 IP67-Rated Female Connector
Do not cut the cable!
Cutting the permanently
attached sensor cable is not
recommended. Such an altera-
tion may impact the environ-
mental protection of the sensor,
void the warranty, and incur
additional repair charges.

M8 Sensor User Guide, QPN 96-00001 Rev K Page 16
Power Source
The M8 sensor cannot operate without power. On average, each D5 sensor uses up to
18 watts of power when it is spinning. Here are some options related to power.
Proper Disconnect
Providing power that fails to meet the specifications in Table 2 may damage the M8 sensor system.
Disconnect from power properly:
NO: Never unplug the cord at the M8 sensor’s ferrule power connector (Figure 14 right) or toggle a
connected power strip’s on/off switch because the current still latent in the cord can shock the sensor.
YES: Instead, unplug the sensor at the power source (wall outlet or power strip, for example) or at the
M19 connector (Figure 14 left) or simply reboot via the web server’s Reboot tab (page 58).
Power Supply
Quanergy does not provide a power supply with
the standard sensor system, but you may purchase
a 120 VAC to 24 VDC power adapter from
Quanergy as shown in Figure 3, which comes
with its own power cable to connect the sensor to
an outlet.
Figure 3. AC/DC Power Adapter (bottom) and Cable (top)
For development purposes, users may provide power via an appropriate power adapter as
specified in Table 2. Make sure the power adapter includes a power indicator (such as the
LED shown in Figure 3). This helps you confirm whether power is off, on (glowing steadily),
or unreliable/intermittent (blinking). This feedback can be important for your support
representative to help you if troubleshooting becomes necessary.
Table 2. AC/DC Power Adapter Specifications
Item
Specification
Output Voltage
24 VDC
Output Current
1.5 A (max)
Protection
Short Circuit Protection, Over Current Protection, Over Voltage Protection
Ripple
150 m Vp-p (max)
Hold-Up Time
10 mS (min)
Transient Response
0.5 mS for 50% Load Change (typ)
Load Regulation
± 5% (typ)
EMI Conduction & Radiation
Compliant with EN55022 Class B

M8 Sensor User Guide, QPN 96-00001 Rev K Page 17
Power over Ethernet
Power over Ethernet (PoE) is a single cable solution for both communication and power.
The M8 sensor has been operated 100 meters from a power source using IEEE 802.3at
(PoE+) compliant PoE source and splitter. The PoE source injects DC power into a CAT5/6
cable. A PoE splitter is used to extract power from the cable.
Proper M8 sensor operation with PoE requires IEEE 802.3at compliant equipment.
The following PoE splitters have been used to provide 24 VDC power and an Ethernet
connection for an M8 sensor at the end of a 100 meter CAT5/6 cable.
• Planet Technology POE-162S (commercial grade)
• Planet Technology IPOE-162S (industrial grade)
Computing Environment with Tools and Solutions
All software tools and solutions provided by Quanergy are designed for x86-64 architec-
ture on the host computer to adequately enable all or some of the following functionality:
• Discovery and management of the sensor.
• Collection, recording, playback, and visualization of the sensor’s data.
• Calibration of multiple sensors mapping the same scene.
The M8 sensor works well with several specific computing environments, as follows.
Simple and Intuitive: No configuration required.
Q-View™ is Quanergy’s proprietary
software-based sensor discovery and management toolkit that enables users to easily
visualize a point cloud and calibrate pairs of sensors. Refer to the following documents:
Q-View User Guide (https://quanergy.desk.com/customer/portal/articles/2717074) and the
Q-View Quick Start Card (https://quanergy.desk.com/customer/portal/articles/2748632).
Customized: User-preferred configuration required.
For users who need to create their
own custom solutions and environments, Quanergy offers a software development kit
(SDK). Depending on how the sensor was acquired, you may need to purchase and/or
request access to the SDK by emailing your GitHub username to [e-mail]
with the subject “Request M8 SDK source code.” Refer to user guides:
• Sensor SDK User Guide for Ubuntu — Quanergy fully supports the open source Ubuntu®
14.04 LTS and 16.04 LTS operating system running natively or virtually via VMware or
Oracle VM VirtualBox. https://quanergy.desk.com/customer/portal/articles/2688864
• Sensor SDK User Guide for Windows — Although Ubuntu is the operating system of choice,
the M8 sensor is also compatible with any operating system that is capable of
initiating a TCP connection with the sensor. In the Windows® 7 environment, users
can visualize a basic point cloud, but cannot immediately manipulate it beyond
rotating and zooming unless they write their own software solutions.
https://quanergy.desk.com/customer/portal/articles/2688870

M8 Sensor User Guide, QPN 96-00001 Rev K Page 18
User-Provided Items
Depending on the computing environment and application requirements, some other
items might need to be provided by the user. Some of those have already been
mentioned, but they are compiled as a convenient list in Table 3.
Table 3. User-Provided Items
Item
Purpose
Notes
Power Source
Power the sensor
Such as by wall outlet or mobile battery
Power over Ethernet (PoE) Splitter
Single cable solution for both
communication and power,
IEEE 802.3at (PoE+) compliant
Recommended by Quanergy:
Planet Technology POE-162S (commercial)
Planet Technology IPOE-162S (industrial)
Mouse + Keyboard + Monitor
Support computing environment
Per user preference
Mounting Surface
Affix the sensor
Vehicle roof rack, camera tripod, etc.
Ethernet Switch + Power Adapter
To handle multiple sensors
Recommended by Quanergy:
Netgear ProSafe GS108:
GPS/IMU Module
Report position and supply the
NMEA/PPS timing signals
Supported by Quanergy:
OXTS RT3003 and VectorNav200
Support Documents
Quanergy offers a suite of documents to aid the user in understanding how to set up and
operate the M8 sensor system. Access a list of these and other downloadable documents
at https://quanergy.desk.com/customer/portal/articles/2725667.
The specific links to the most relevant documents are provided below:
M8 Sensor Data Sheet — https://quanergy.desk.com/customer/portal/articles/2687054
M8 Sensor User Guide — https://quanergy.desk.com/customer/portal/articles/2687038
M8 Sensor Quick Start Card — https://quanergy.desk.com/customer/portal/articles/2687032
Q-View User Guide — https://quanergy.desk.com/customer/portal/articles/2717074
Q-View Quick Start Card — https://quanergy.desk.com/customer/portal/articles/2748632
Sensor SDK User Guide Ubuntu — https://quanergy.desk.com/customer/portal/articles/2688864
Sensor SDK User Guide Windows 7 — https://quanergy.desk.com/customer/portal/articles/2688870

M8 Sensor User Guide, QPN 96-00001 Rev K Page 19
2. Introducing the Sensor
Quanergy’s Time-of-Flight (TOF) M8 LiDAR sensor (Figure 4)
enables new applications in the transportation, industrial
automation, 3D mapping and surveying, and security markets.
Linux® and Windows drivers allow for easy configuration,
integration, and testing.
The M8 Sensor Data Sheet lists the specifications defining the
sensor. The latest version can be downloaded from
https://quanergy.desk.com/customer/portal/articles/2687054.
Figure 4. M8 LiDAR Sensor
Applications
Quanergy’s smart sensing technology can be applied to a variety of platforms (e.g.,
vehicles, production tools, robots, and monitoring stations) to enable rapid 3D detection,
measurement, identification, tracking, and classification of items, as well as triggering
actions based on real-time scenario analysis supported by advanced perception software.
Features
With a 360° field of view, high accuracy, fine resolution, high reliability, compact size, light
weight, and low power consumption, Quanergy’s compact M8 LiDAR sensor was designed
to meet the demands of challenging real-world applications. In addition, the sensor sees
by day or night, with no IR signature needed, and is operational in rain, snow, and dust,
with IP69K-rated ingress protection.
Models
The M8 family of LiDAR sensors includes three models to better serve Quanergy’s diverse
customer base and market applications. Depending on industry requirements, choose a
model according to its maximum measurement range. Assuming 80% reflectivity:
• M8-Core has a maximum range of at least 100 meters.
• M8-Plus has a maximum range of at least 150 meters.
• M8-Ultra has a maximum range of at least 200 meters.
NMEA and PPS Inputs
The sensor can be clocked according to the National Marine Electronics Association
(NMEA) and pulse-per-second (PPS) inputs via the M12 3-pin connector, as discussed in
“Appendix 1: Use of NMEA/PPS Signals.”

M8 Sensor User Guide, QPN 96-00001 Rev K Page 20
Multiple Returns
The M8 sensor includes the multiple returns feature that produces an enriched point cloud,
which is particularly important for 3D mapping. This feature is possible because each
emitted laser pulse can reflect off multiple objects (Figure 5) and return to the LiDAR
sensor as one or more return pulses. The M8 sensor measures and evaluates the distances
and intensities of as many return pulses as there are, follows rules for which particular
return values to report, then reports the distances and intensities of up to three of those
return values.
Evaluation Rules
The distance and intensity of each return pulse is evaluated to determine which is:
• Maximum: Has the highest intensity/amplitude.
• Second Strongest: Has the second highest intensity/amplitude.
• Last: Has the highest range, that is, the longest time-of-flight from the sensor.
The evaluation rules for assigning these labels are as follows:
• If no return pulses are detected, each of the three return values is 0.
• If one or more return pulses are detected:
– Return 0: The first return value equals Maximum.
– Return 1: The second return value equals Second Strongest. (But if there was only one
return pulse, the return value equals Maximum.)
– Return 2: The third return value equals Last, which may be equal to Second Strongest
or Maximum.
To select a specific return (0, 1, 2, or All 3), refer to “Return Data Select” on page 48.
Figure 5. Sensor Emitting a Single Beam (for example) with Multiple Returns