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Hesai Pandar64 User Manual
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3.1.2. Point cloud UDP data
3.1.2.1. Header
Field
Bytes
Description
0xEE
1
Start of Packet
0xFF
1
Start of Packet
Laser N
1
0x40 (64 channels)
Block N
1
0x06 (6 blocks per packet)
Reserved
1
-
Dis Unit
1
Fixed: 0x04 (4 mm)
Reserved
1
-
Reserved
1
-
Pandar64
-33-
36
38
Table of Contents
Default Chapter
2
Table of Contents
2
About this Manual
5
Access to this Manual
5
Technical Support
5
Legends and Format
5
Safety Notice
6
Special Warnings
6
Operating Environment
7
Personnel
9
Installation and Operation
9
Repair and Maintenance
13
1 Introduction
14
Operating Principle
14
Basic Structure
15
Channel Distribution
16
Specifications
17
2 Setup
19
Mechanical Installation
19
Exterior Dimensions
19
Quick Installation
21
Stable Installation
21
Notes on Screw Installation
22
Electrical Interface
23
Pin Description
23
Connector Use
25
Bending of Cables
26
Connection Box (Optional)
27
Ports
28
Connection
31
Network Settings on the Receiving Host
33
Tools
33
3 Data Structure
35
Point Cloud Data Packet
36
Ethernet Header
36
Point Cloud UDP Data
37
Ethernet Tail
41
Point Cloud Data Analysis
42
GPS Data Packet
45
Ethernet Header
45
GPS UDP Data
46
Ethernet Tail
49
GPS Time Data Analysis Method
50
4 Web Control
51
Home
52
Settings
54
Network
56
Function
57
Time Sync
60
Azimuth FOV
62
For All Channels
64
For each Channel
64
Multi-Section FOV
65
Operation Statistics
66
Upgrade
67
5 Protocol
68
6 Maintenance
69
7 Troubleshooting
70
Appendix A: Channel Distribution Data
74
Appendix B: Absolute Time of Point Cloud Data
79
Source of Absolute Time
79
GPS as the Clock Source
79
PTP as the Clock
80
Absolute Time of Point Cloud Data Packets
82
End Time of each Block
82
Laser Firing Time of each Channel
83
Appendix C: Phoenix Connector
87
Appendix D: Nonlinear Reflectivity Mapping
89
Appendix E: Legal Notice
94
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Hesai Pandar64 Specifications
General
Brand
Hesai
Model
Pandar64
Category
Measuring Instruments
Language
English
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