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
Follow Us!
https://www.linkedin.com/company/quanergy/
https://twitter.com/quanergy/
https://www.facebook.com/quanergy/
https://www.youtube.com/c/QuanergySystems/

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