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Hesai PandarXT-16 - User Manual

Hesai PandarXT-16
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www.hesaitech.com
PandarXT-16
16-Channel Mid-Range
Mechanical Lidar User Manual
Classification: Public
Doc Version: X02-en-240210

Table of Contents

Questions and Answers

  • P
    Patrick MonroeAug 20, 2025
    What to do if I can receive data on Wireshark but not on PandarView 2 with Hesai Measuring Instruments?
    • E
      ericreynoldsAug 20, 2025
      If you can receive data on Wireshark but not on PandarView 2 with your Hesai Measuring Instruments, ensure the following: the Lidar Destination Port is correctly set (verify using web control or PTC commands); the PC's firewall is disabled, or PandarView 2 is added to the firewall exceptions; if VLAN is enabled, the PC's VLAN ID should match the lidar's (check using web control or PTC commands); and the latest PandarView 2 is installed. Power on again to check if the symptom persists.
  • D
    Danielle AlvaradoAug 22, 2025
    Why I cannot open web control for Hesai Measuring Instruments?
    • B
      briannaesparzaAug 22, 2025
      If you cannot open the web control for your Hesai Measuring Instruments, ensure that the Ethernet cable is properly connected. Also, verify that the lidar's IP address is in the same subnet as your PC's. If VLAN is enabled, ensure that the PC's VLAN ID matches the lidar's. Restart your PC, or try connecting the lidar to another PC. Power on again to check if the symptom persists.
  • K
    Kristin WarrenAug 25, 2025
    What to do if motor is running but no output data is received from Hesai Measuring Instruments?
    • A
      Alexis OlsonAug 25, 2025
      If the motor is running but no output data is received from your Hesai Measuring Instruments, check the following: Ensure the Ethernet cable is properly connected. Verify that the Destination IP is correctly set (confirm using web control or PTC commands). Make sure the Azimuth FOV is properly set (confirm using web control or PTC commands). Confirm the Sensor Version firmware is correct (confirm using web control or PTC commands). Check if the lidar is emitting laser light using an infrared camera, an infrared sensor card, or a phone camera without an infrared filter. Power on again to check if the symptom persists.
  • A
    allenlauraAug 26, 2025
    How to fix abnormal point cloud on Hesai Measuring Instruments?
    • J
      Jennifer CortezAug 27, 2025
      To address an abnormal point cloud (misaligned, flashing, or incomplete FOV) on your Hesai Measuring Instruments, ensure the lidar's cover lens is clean. Import the lidar's angle correction file. Verify that the Azimuth FOV is properly set (confirm using web control or PTC commands). Ensure the Spin Rate is steady (confirm using PandarView 2, web control, or PTC commands). Check that the lidar's internal temperature is between –20°C and 90°C (confirm using PandarView 2, web control, or PTC commands). Check for packet loss. If no packet is missing and the point cloud flashes, update PandarView 2 to the latest version and restart the PC. If the point cloud is still abnormal, connect the lidar to another PC and power on again to check if the symptom persists.
  • R
    rogerslindseyAug 28, 2025
    What causes abnormal packet size (missing packets) in Hesai Measuring Instruments and how to resolve it?
    • L
      leonardnancyAug 28, 2025
      To resolve abnormal packet size (missing packets) issues with your Hesai Measuring Instruments, ensure that the Azimuth FOV is properly set (confirm using web control or PTC commands). Verify that the Spin Rate is steady (confirm using PandarView 2, web control, or PTC commands). Check that the lidar's internal temperature is between –20°C and 90°C (confirm using PandarView 2, web control, or PTC commands). Ensure that the Ethernet is not overloaded, and no switch is connected to the network. Connect the PC to only the lidar and check for packet loss. Power on again to check if the symptom persists.
  • K
    Kendra KleinAug 29, 2025
    What to do if GPS cannot be locked in Hesai Measuring Instruments?
    • J
      Jerry DavidAug 29, 2025
      If the GPS cannot be locked on your Hesai Measuring Instruments, ensure that the GPS receiver is properly connected and the PPS signal is connected to the lidar. Verify that the GPS Destination Port is correctly set (confirm using either web control or PTC commands). Ensure the GPS signals meet the electrical requirements. Power on again to check if the symptom persists.
  • B
    brad05Aug 31, 2025
    What to do if motor is not running in Hesai Measuring Instruments?
    • S
      Sarah PittsAug 31, 2025
      If the motor is not running in your Hesai Measuring Instruments, ensure that the power adapter is properly connected and in good condition. If a connection box is used, make sure it is intact. Verify that the input voltage and current meet the specified requirements. Confirm that web control can be accessed. Ensure the lidar is not in standby mode (check via web control or PTC commands). Power on again to check if the symptom persists.
  • S
    Shawn TurnerSep 2, 2025
    Why is the indicator light off on the connection box of my Hesai Measuring Instruments?
    • R
      rowlandkatelynSep 2, 2025
      If the indicator light is off on the connection box of your Hesai Measuring Instruments, make sure that the power adapter is properly connected and in good condition, and that the connection box is intact. Also, ensure that the input voltage and current satisfy the specified requirements. Power on again to check if the symptom persists.
  • D
    David GoodwinSep 4, 2025
    What to do if I can receive data on Wireshark but not on PandarView with Hesai Radar?
    • C
      Cindy GonzalesSep 4, 2025
      If you can receive data on Wireshark but not on PandarView, ensure that the Lidar Destination Port is correctly set on the Settings page of web control. Also, check that your PC's firewall is disabled, or that PandarView is added to the firewall exceptions. It's also recommended to install the latest PandarView version. Power the device off and on again to see if the issue persists.
  • T
    Travis PetersonSep 6, 2025
    Why is my Hesai Radar point cloud abnormal?
    • R
      Rodney WatsonSep 6, 2025
      To address an abnormal point cloud (misaligned, flashing, or incomplete FOV) on your Hesai Radar, first, ensure the Lidar's cover lens is clean. Check that the Lidar's calibration file is imported. Verify that the horizontal FOV is correctly configured on the Azimuth FOV page of web control. Also, confirm that the motor's spin rate is steady on the Home page and that the Lidar's internal temperature is between -20°C and 95°C on the Operation Statistics page. If the issue continues, try connecting the lidar to another PC, then power cycle the device.

Summary

About this manual

Access to this manual

How to obtain the latest version of the user manual.

Technical support

Contact information for technical assistance and troubleshooting.

Legends and format

Explanation of symbols, warnings, and formatting conventions used in the manual.

Safety notice

Special warnings

Specific warnings related to product operation, safety, and compliance.

Operating environment

Hot surface

Warning about hot surfaces on the lidar during and after operation.

Abnormalities

Procedures to follow when the product exhibits malfunctions or causes environmental issues.

Prohibition of disassembly

Instruction against disassembling the product without prior written agreement.

Radio frequency interference

Considerations for radio frequency interference and compliance with regulations.

Vibration

Explosive atmosphere and other air conditions

Precautions for use in environments with potentially explosive atmospheres or hazardous chemicals.

Chemical environment

Warnings against exposing the product to corrosive liquids.

Ingress protection (IP)

Reference to specifications for IP rating and avoiding ingress beyond limits.

Operating temperature

Reference to specifications for operating temperature range.

Recommended storage conditions

Guidelines for storing the lidar in a dry and well-ventilated environment.

Personnel

Light interference

Information on potential interference with optical instruments and laser emission blocking.

Recommended operator qualifications

Qualifications required for operating the lidar product.

Medical device interference

Precautions regarding electromagnetic fields and medical devices.

Installation and operation

Power supply

Requirements and recommendations for the lidar's power supply and cables.

Electrical interface

Instructions for connecting and handling electrical interfaces to prevent damage.

Eye safety

Information on the lidar's laser class and safety precautions for eye protection.

Product enclosure

Product enclosure: cover lens

Guidelines for handling and cleaning the product's cover lens to maintain data quality.

Peripherals

Hot surface

Warning about hot surfaces on the lidar during and after operation.

Firmware and software upgrading

Customized firmware and software

Considerations for using customized firmware and software versions.

Point cloud data processing

Repair and maintenance

Repair

Procedures for product repair and maintenance, and consequences of unauthorized actions.

1. Introduction

1.1. Operating principle

Explanation of the lidar's distance measurement method based on Time of Flight (ToF).

1.2. Basic structure

1.2.1. Side connector lidar

Description of the side connector lidar variant, including coordinate system and position.

1.2.2. Bottom connector lidar

Description of the bottom connector lidar variant, including coordinate system and position.

1.3. Channel distribution

1.3.1. Side connector lidar

Details on vertical channel distribution and laser emitter/receiver positions for the side connector.

1.3.2. Bottom connector lidar

Details on vertical channel distribution and laser emitter/receiver positions for the bottom connector.

1.3.3. Angle correction file

Information on obtaining and using the angle correction file for accurate measurements.

1.4. Specifications

Notes to specifications

Clarifications and additional notes for the technical specifications.

1.4.1. Ranging accuracy

Definition and conditions for measuring the lidar's ranging accuracy.

1.4.2. Ranging precision

Definition and conditions for measuring the lidar's ranging precision.

2. Setup

2.1. Mechanical installation

Instructions for physically mounting the lidar unit, including screw types and torque.

2.1.2. Side connector lidar

Mechanical dimensions and mounting details for the side connector lidar.

2.1.3. Bottom connector lidar

Mechanical dimensions and mounting details for the bottom connector lidar.

2.2. Electrical interface

Instructions for connecting and handling electrical interfaces to prevent damage.

2.2.2. Bending of cables

Specifications for minimum bend radius and handling of cables to prevent damage.

2.2.3. Connector use

Guidelines for proper connection and disconnection of the lidar's connector.

2.3. Connection box (optional)

Information on the optional connection box for the lidar.

2.3.1. Ports

Description of the ports available on the optional connection box and GPS port pinout.

2.3.2. Connection

Diagrams and instructions for connecting the lidar with GPS or PTP.

2.3.2.1. Side connector lidar

Diagram and instructions for connecting the side connector lidar with GPS.

2.3.2.2. Bottom connector lidar

Diagram and instructions for connecting the bottom connector lidar with GPS.

2.4. Network settings on the receiving host

Configuration steps for PC network settings to receive data from the lidar.

2.5. Software tools

Overview of software tools for visualization, control, and development with the lidar.

3. Data structure

3.1. Point Cloud Data Packet

Detailed breakdown of the structure and fields within a Point Cloud Data Packet.

3.1.1. Ethernet header

Description of the Ethernet II MAC, IP, and UDP header fields in the data packet.

3.1.2. Point cloud UDP data

Details on the UDP data structure, including Pre-Header, Header, Body, and Tail fields.

3.1.3. Ethernet tail

Description of the Frame Check Sequence (FCS) in the Ethernet tail.

3.1.4. Point cloud data analysis method

Methodology for analyzing vertical angle and other data points in the point cloud.

Body

Details on the data body structure, including return modes and measurements per channel.

Return mode

Explanation of different return modes and how measurements are stored in blocks.

3.1.2.4. Tail

Description of the Tail fields, including Return Mode and Motor Speed.

3.1.2.5. Additional information

Details on UDP Sequence and FCS in the data packet.

3.1.4.2. Analyze the horizontal angle of a data point

Methodology for calculating the horizontal angle of a data point using various offsets.

3.1.4.3. Analyze the distance of a data point

Reference to the Distance field for analyzing data point distances.

3.1.4.4. Draw the data point in a spherical or rectangular coordinate system

Visualization of data points in spherical or rectangular coordinate systems.

3.2. GPS Data Packet

Structure of GPS Data Packets, including header and UDP data.

3.2.1. Ethernet header

Ethernet header structure for GPS Data Packets, including IP and MAC addresses.

3.2.2. GPS UDP data

Structure of GPS UDP data, including GPS Time, NMEA, and status information.

3.2.2.1. GPRMC data format

Format specifications for GPRMC NMEA sentences used for GPS data.

3.2.2.2. GPGGA data format

Format specifications for GPGGA NMEA sentences used for GPS data.

3.2.3. Ethernet tail

Description of the Ethernet tail, including the Frame Check Sequence (FCS).

3.2.4. GPS time data analysis method

Example analysis of GPS data packet content for time information.

4. Web control

4.1. Home

Overview of the web interface's home page, displaying device status and parameters.

4.2. Settings

Configuration options for network parameters like IP address, subnet mask, and VLAN.

4.2.1. Network

Detailed configuration options for VLAN tagging and destination IP settings.

4.2.2. Function

Configuration options for lidar functions like Spin Rate and Return Mode.

Spin Rate

Setting the motor's rotation speed (RPM) for the lidar.

Sync Angle

Configuration of phase lock angle for synchronizing multiple lidar units.

Trigger Method

Selection of methods for triggering laser firings (Angle-Based or Time-Based).

Interstitial Points Filtering

Option to enable filtering of interstitial points in point cloud data.

Reflectivity Mapping

Choice between linear or nonlinear mapping for target reflectivity representation.

Standby Mode

Enabling standby mode to stop motor and laser operations.

4.2.3. Time sync

Configuration settings for time synchronization using GPS or PTP.

With GPS selected

Configuration settings when GPS is used as the clock source for time synchronization.

4.2.3.1. With GPS selected

Detailed parameters and logic for GPS time synchronization and PPS lock requirements.

4.2.3.2. With PTP selected

Configuration settings and parameters when PTP is used as the clock source for time synchronization.

4.3. Azimuth FOV

Configuration settings for the azimuth Field of View (FOV).

Azimuth FOV Setting

Configuration mode for azimuth Field of View (FOV).

4.3.1. For all channels

Setting a continuous angle range for the azimuth FOV across all channels.

4.3.2. Multi-section FOV

Configuring multiple continuous angle ranges for the azimuth FOV.

4.4. Operation statistics

Display of operational statistics, including uptime, temperature, and operation time.

4.5. Upgrade

Procedures for upgrading the lidar's firmware and software.

Upload

Procedure for uploading firmware files to upgrade the lidar's software.

Restart

Function to perform a software reboot of the lidar.

5. Communication protocol

6. Maintenance

Perform the following steps to remove the stains

Detailed steps for cleaning the lidar's cover lens to maintain data quality.

7. Troubleshooting

Indicator light is off on the connection box

Troubleshooting steps for when the connection box indicator light is off.

Motor is not running

Troubleshooting steps when the lidar's motor fails to operate.

Motor is running but no output data is received

Troubleshooting steps when data is not received despite the motor running.

Can receive data on Wireshark but not on PandarView 2

Troubleshooting steps when data is received in Wireshark but not PandarView 2.

Cannot open web control

Troubleshooting steps for accessing the lidar's web control interface.

Abnormal packet size (missing packets)

Troubleshooting steps for issues related to abnormal packet size or missing packets.

Abnormal point cloud (misaligned points, flashing, incomplete FOV)

Troubleshooting steps for issues with point cloud data quality and alignment.

GPS cannot be locked

Troubleshooting steps when the GPS signal cannot be locked by the lidar.

Appendix A: Channel distribution data

Appendix B: Absolute time of point cloud data

B.1. Source of absolute time

Explanation of how the lidar obtains absolute time from external clock sources.

B.1.1. GPS as the clock source

Details on using GPS as a clock source for time synchronization, including NMEA and PPS signals.

B.1.2. PTP as the clock source

Details on using PTP as a clock source for time synchronization.

B.2. Absolute time of Point Cloud Data Packets

Formula for calculating the absolute time of Point Cloud Data Packets.

B.3. Start time of each block

Calculation of start times for each data block in single and dual return modes.

B.4. Laser firing time of each channel

Calculation of laser firing times for each channel within a block.

Appendix C: Power supply requirements

C.1. Input voltage

Requirements for the lidar's input voltage and cable voltage drop calculations.

C.1.1. Calculate the cable voltage drop

Methods for estimating and calculating voltage drop over cables based on length and resistance.

C.2. Power Consumption

Information on the lidar's power consumption under various operating conditions.

C.3. Power Up;Down

Voltage requirements during the power-up sequence of the lidar.

Appendix D: Nonlinear reflectivity mapping

Nonlinear mapping

Explanation and data table for nonlinear mapping of target reflectivity.

Appendix E: Legal notice

Hesai PandarXT-16 Specifications

General IconGeneral
BrandHesai
ModelPandarXT-16
CategoryScanner
LanguageEnglish