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Hesai XT32M2X - User Manual

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www.hesaitech.com
XT32M2X
32-Channel Medium-Range Mechanical
Lidar User Manual
Classification: Public
Doc Version: X03-en-240110

Table of Contents

Questions and Answers

  • K
    Karen GomezAug 20, 2025
    What to do if motor runs but no data received on Hesai Radar?
    • T
      Tyler VelasquezAug 20, 2025
      If the motor of your Hesai Radar is running, but you are not receiving any output data on Wireshark or PandarView 2, ensure that the Ethernet cable is properly connected by unplugging and plugging it again. Also, verify that the Destination IP and Horizontal FOV are correctly set using either web control or PTC commands. Confirm that the Sensor Version firmware is correct, which can also be checked via web control or PTC commands. Finally, check if the lidar is emitting laser light using an infrared camera, an infrared sensor card, or a phone camera without an infrared filter. After checking these conditions, power the device on again to see if the issue persists.
  • A
    alyssamoodyAug 22, 2025
    How to fix cannot open web control on Hesai Radar?
    • L
      Lawrence SullivanAug 22, 2025
      If you cannot open the web control for your Hesai Radar, first ensure that the Ethernet cable is properly connected by unplugging it and plugging it back in. Verify that the lidar's IP address is in the same subnet as your PC's IP address; you can use WireShark to check the lidar's IP address that broadcasts data packets. If VLAN is enabled, the PC's VLAN ID should match the lidar's, which can be checked using web control or PTC commands. Then, restart your PC or try connecting the lidar to another PC. Power the device on again to check if the symptom persists.
  • L
    lchangAug 26, 2025
    What to do if Hesai XT32M2X data is received on Wireshark but not PandarView 2?
    • T
      Taylor FosterAug 26, 2025
      If you are receiving data on Wireshark but not on PandarView 2 for your Hesai Radar, ensure that the Lidar Destination Port is correctly set using either web control or PTC commands. Check that your PC's firewall is disabled or that PandarView 2 is added as an exception in the firewall settings. If VLAN is enabled, confirm that your PC's VLAN ID is the same as the lidar's; this can be checked using either web control or PTC commands. Finally, make sure that you have the latest version of PandarView 2 installed on your PC. Power the device on again to check if the symptom persists.
  • K
    kevinjamesAug 27, 2025
    Why is Hesai XT32M2X having abnormal packet size?
    • R
      Robert BrewerAug 28, 2025
      An abnormal packet size, or missing packets, on your Hesai Radar could be caused by several factors. Ensure that the Azimuth FOV is properly set using either web control or PTC commands, and that the Spin Rate is steady, also verifiable through web control or PTC commands. Check that the lidar's internal temperature is between –20°C and 90°C, which can be queried via web control or PTC commands. Make sure that the Ethernet is not overloaded and that no switch is connected to the network, as data transmitted from other devices may cause network congestion and packet loss. Connect the PC only to the lidar and check for packet loss. Power the device on again to check if the symptom persists.
  • J
    Julie HernandezAug 29, 2025
    How to troubleshoot motor not running on Hesai Radar?
    • L
      Luis SandersAug 30, 2025
      If the motor of your Hesai Radar is not running, make sure that the power adapter is properly connected and in good condition. If you are using a connection box, ensure that it is intact. Verify that the input voltage and current satisfy the requirements. Ensure that web control can be accessed and that the lidar is not in standby mode, which you can check using either web control or PTC commands. Power the device on again to check if the symptom persists.
  • X
    xjacksonAug 31, 2025
    How to fix GPS cannot be locked on Hesai Radar?
    • H
      hudsonalexandriaAug 31, 2025
      If the GPS on your Hesai Radar cannot be locked, ensure that the GPS receiver is properly connected and that the PPS signal is connected to the lidar. Verify that the Destination GPS Port is correctly set using either web control or PTC commands. Also, check that the GPS signals satisfy the electrical requirements. Power the device on again to check if the symptom persists.
  • J
    John GallagherSep 2, 2025
    Why is the indicator light off on Hesai XT32M2X Radar connection box?
    • J
      James YoungSep 2, 2025
      If the indicator light is off on the connection box of your Hesai Radar, ensure that the power adapter is properly connected and in good condition, and that the connection box is intact. Also, check that the input voltage and current satisfy the specified requirements. Power on again to check if the symptom persists.
  • R
    Roger BurkeSep 4, 2025
    How to fix Hesai Measuring Instruments web control access issues?
    • R
      Ryan TurnerSep 4, 2025
      If you are having trouble accessing the web control for your Hesai Measuring Instruments, ensure the following: The Ethernet cable is properly connected (try unplugging and plugging it back in). The lidar's IP is in the same subnet as the PC's (use WireShark to check the lidar's IP). If VLAN is enabled, the PC's VLAN ID should match the lidar's (check this using web control or PTC commands). Try restarting your PC, or connect the lidar to another PC. Power cycle the lidar to see if the problem persists.
  • G
    Gregory DavilaSep 6, 2025
    What to do if PandarView 2 doesn't receive data from Hesai Measuring Instruments?
    • H
      Heather TranSep 6, 2025
      If PandarView 2 isn't receiving data from your Hesai Measuring Instruments, verify these points: Confirm the Lidar Destination Port is correctly set using web control or PTC commands. Check that your PC's firewall is disabled or that PandarView 2 is added as an exception. If VLAN is enabled, ensure the PC's VLAN ID matches the lidar's, which can be checked via web control or PTC commands. Also, make sure you have the latest version of PandarView 2 installed. Power cycle the lidar to see if the problem persists.
  • A
    Anna WilcoxSep 8, 2025
    Why am I not receiving output data from Hesai Measuring Instruments?
    • Z
      zmartinezSep 8, 2025
      If the motor is running but you're not receiving any output data from your Hesai Measuring Instruments, neither in Wireshark nor PandarView 2, check the following: Ensure the Ethernet cable is properly connected. Verify the Destination IP is correctly set using web control or PTC commands. Confirm the Azimuth FOV is properly set using web control or PTC commands. Make sure the Sensor Version firmware is correct 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 cycle the lidar to see if the problem persists.

Summary

About this manual

Access to this manual

How to obtain the latest version of the user manual from Hesai's website or support.

Technical support

Contact information and channels for Hesai technical support.

Legends and format

Explains symbols and formatting used throughout the user manual.

Safety notice

Special warnings

Highlights critical safety warnings, including laser safety compliance.

Operating environment

Radio frequency interference

Discusses the impact of RF interference on electronic devices.

Hot surface

Warns about hot parts and handling precautions for the product enclosure.

Environmental conditions

Hazards and protection

Covers vibration, explosive atmosphere, chemical exposure, ingress protection, and temperature.

Personnel requirements

Operator qualifications

Specifies that the product should be operated by professionals.

Medical device interference

Warns about electromagnetic fields affecting medical devices.

Power supply

Electrical interface and eye safety

Interface details and safety

Covers electrical interface and eye safety precautions.

Product enclosure and cover lens

Enclosure and lens handling

Covers enclosure handling, mounting, and cover lens care.

Operation, Peripherals, and Software

Operational precautions

Covers hot surfaces and peripheral device usage.

Firmware and software

Details upgrading and using customized firmware versions.

Data processing and repair

Point cloud data processing

Explains various point cloud data processing functions.

Repair procedures

Details restrictions and consequences of disassembling or repairing the product.

1. Introduction

1.1. Operating principle

Explains the Time of Flight (ToF) distance measurement principle.

1.2. Lidar structure

Structure and Coordinate System

Describes lidar structure, coordinate system, and azimuthal position.

1.3. Channel distribution

Channel angles and correction

Details vertical resolution, channel angles, and angle correction file.

1.4. Specifications

Sensor and Mech;Elec Specs

Lists key sensor, mechanical, electrical, and operational specifications.

1.4. Specifications

Sensor and Mech;Elec Specs

Lists key sensor, mechanical, electrical, and operational specifications.

Ingress, Data, and General Specs

Covers IP rating, dimensions, data I/O, and other specs.

Notes to specifications

1.4.1. Range accuracy

1.4.2. Range precision

2. Setup

Mechanical installation

Provides front view dimensions for mechanical installation.

2.1. Mechanical installation

Bottom view dimensions

Provides bottom view dimensions and mounting hole details.

2.1.1. Recommended Installation

2.1.2. Notes on screw installation

Screw type and threadlocker

Recommends SEMS screws and LOCTITE threadlocker for installation.

Screw torque and service life

Provides a table of recommended screw torque and thread service life.

2.2. Electrical interface

Lemo connector pin description

Details the pin assignments and signals of the Lemo connector.

GPS Timing and Cables

Connector use

Connection;Disconnection Procedure

2.3. Connection box (optional)

Connection box overview

Describes the optional connection box and its components.

Connection box ports

Port details and GPS pin description

Details box ports, Ethernet, power, GPS ports, and GPS pin description.

GPS port pinout

2.3.2. Connection

Connection diagram with GPS

Illustrates the connection setup for GPS data.

2.3.2. Connection

Connection diagram with GPS

Illustrates the connection setup for GPS data.

Connection diagram with PTP

Illustrates the connection setup for PTP synchronization.

2.4. Network settings

Receiving host configuration

Details IP address and subnet mask settings for the receiving PC.

2.5. Tools

2.5. Tools

Development tools

Lists software development kits (SDKs) and ROS drivers for development.

3. Data structure

Data packet overview

Provides an overview of lidar and GPS data packet structures.

3.1. Point Cloud Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for point cloud data.

3.1. Point Cloud Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for point cloud data.

Pre-Header structure

Details the fields of the Pre-Header in the point cloud UDP data.

3.1. Point Cloud Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for point cloud data.

Pre-Header structure

Details the fields of the Pre-Header in the point cloud UDP data.

Header and Body structure

Details the Header and Body structure of the point cloud UDP data.

3.1. Point Cloud Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for point cloud data.

Pre-Header structure

Details the fields of the Pre-Header in the point cloud UDP data.

Header and Body structure

Details the Header and Body structure of the point cloud UDP data.

Tail and Additional Information

Details the Tail and Additional Information fields of the point cloud UDP data.

3.1. Point Cloud Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for point cloud data.

Pre-Header structure

Details the fields of the Pre-Header in the point cloud UDP data.

Header and Body structure

Details the Header and Body structure of the point cloud UDP data.

Tail and Additional Information

Details the Tail and Additional Information fields of the point cloud UDP data.

Body structure details

Details the Body structure, including Azimuth and channel measurements.

3.1. Point Cloud Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for point cloud data.

Pre-Header structure

Details the fields of the Pre-Header in the point cloud UDP data.

Header and Body structure

Details the Header and Body structure of the point cloud UDP data.

Tail and Additional Information

Details the Tail and Additional Information fields of the point cloud UDP data.

Body structure details

Details the Body structure, including Azimuth and channel measurements.

Point cloud data analysis

Guides on analyzing vertical, horizontal angles, and distance of data points.

3.2. GPS Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for GPS data.

3.2. GPS Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for GPS data.

GPS UDP data format

Details the structure of GPS UDP data, including time and NMEA sentences.

3.2. GPS Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for GPS data.

GPS UDP data format

Details the structure of GPS UDP data, including time and NMEA sentences.

GPRMC and GPGGA data formats

Explains the GPRMC and GPGGA data formats accepted by the lidar.

3.2. GPS Data Packet

Ethernet header details

Details the fields and bytes of the Ethernet header for GPS data.

GPS UDP data format

Details the structure of GPS UDP data, including time and NMEA sentences.

GPRMC and GPGGA data formats

Explains the GPRMC and GPGGA data formats accepted by the lidar.

GPS time data analysis

Provides an example of GPS data packet and analysis of time fields.

4. Web control

Accessing web control

Steps to access the lidar's web control interface via a browser.

4.1. Home

Status and Device Info

Displays lidar status, device information, and key parameters.

4.2. Settings

General settings

Lists configurable settings including IP, VLAN, Spin Rate, and Return Mode.

4.2.1. Network settings

VLAN and Destination IP

Configures VLAN tagging and destination IP addresses for data transmission.

4.2.2. Function settings

Spin Rate, Return Mode, Sync Angle

Configures spin rate, return modes, and phase lock angle for synchronization.

4.2.2. Function settings

Spin Rate, Return Mode, Sync Angle

Configures spin rate, return modes, and phase lock angle for synchronization.

Trigger, Reflectivity, Standby

Configures trigger method, reflectivity mapping, and standby mode.

4.2.3. Time settings

GPS and PTP clock sources

Configures clock source selection between GPS and PTP.

4.2.3.1. With GPS selected

GPS Mode and PPS Lock

Configures GPS mode and requires PPS lock for accurate time.

4.2.3.2. With PTP selected

PTP profile and transport

Configures PTP profile, transport, domain number, and intervals.

4.3. Azimuth FOV

Azimuth FOV configuration

Configures azimuth FOV mode for all channels or multi-section.

4.3.1. For all channels

4.3.2. Multi-section FOV

4.4. Operation statistics

4.5. Upgrade

Upgrade preparation and process

Details preparation steps and the process for uploading and applying firmware upgrades.

5. Communication protocol

6. Sensor maintenance

Cover lens cleaning

Provides step-by-step instructions for cleaning the lidar's cover lens.

7. Troubleshooting

Indicator and motor issues

Troubleshooting steps for indicator light off and motor not running.

7. Troubleshooting

Indicator and motor issues

Troubleshooting steps for indicator light off and motor not running.

Data reception and connectivity issues

Troubleshooting steps for no data reception, Wireshark issues, and web control access.

7. Troubleshooting

Indicator and motor issues

Troubleshooting steps for indicator light off and motor not running.

Data reception and connectivity issues

Troubleshooting steps for no data reception, Wireshark issues, and web control access.

Packet and point cloud anomalies

Troubleshooting steps for abnormal packet size and point cloud issues.

7. Troubleshooting

Indicator and motor issues

Troubleshooting steps for indicator light off and motor not running.

Data reception and connectivity issues

Troubleshooting steps for no data reception, Wireshark issues, and web control access.

Packet and point cloud anomalies

Troubleshooting steps for abnormal packet size and point cloud issues.

GPS cannot be locked

Troubleshooting steps for issues where the GPS signal cannot be locked.

Appendix A: Channel distribution data

Channel number and angles

Lists channel numbers, horizontal offsets, and vertical angles.

Channel distribution data (cont.)

Channel angles (continued)

Lists channel numbers, horizontal offsets, and vertical angles (channels 17-32).

Appendix B: Absolute time of point cloud data

Source of absolute time

Describes how the lidar obtains absolute time from external clock sources.

Appendix B: Absolute time of point cloud data

Source of absolute time

Describes how the lidar obtains absolute time from external clock sources.

GPS as clock source

Details how GPS PPS and NMEA signals are used for time synchronization.

Appendix B: Absolute time of point cloud data

Source of absolute time

Describes how the lidar obtains absolute time from external clock sources.

GPS as clock source

Details how GPS PPS and NMEA signals are used for time synchronization.

PTP as clock source

Describes how the lidar uses PTP for absolute time synchronization.

Appendix B: Absolute time of point cloud data

Source of absolute time

Describes how the lidar obtains absolute time from external clock sources.

GPS as clock source

Details how GPS PPS and NMEA signals are used for time synchronization.

PTP as clock source

Describes how the lidar uses PTP for absolute time synchronization.

Absolute time of Point Cloud Data Packets

Explains how to calculate the absolute time of data packets.

Appendix B: Absolute time of point cloud data

Source of absolute time

Describes how the lidar obtains absolute time from external clock sources.

GPS as clock source

Details how GPS PPS and NMEA signals are used for time synchronization.

PTP as clock source

Describes how the lidar uses PTP for absolute time synchronization.

Absolute time of Point Cloud Data Packets

Explains how to calculate the absolute time of data packets.

Start time of each block

Explains how to calculate the start time of each block in different return modes.

Appendix B: Absolute time of point cloud data

Source of absolute time

Describes how the lidar obtains absolute time from external clock sources.

GPS as clock source

Details how GPS PPS and NMEA signals are used for time synchronization.

PTP as clock source

Describes how the lidar uses PTP for absolute time synchronization.

Absolute time of Point Cloud Data Packets

Explains how to calculate the absolute time of data packets.

Start time of each block

Explains how to calculate the start time of each block in different return modes.

Laser firing time of each channel

Details the firing time offsets for each laser channel.

Appendix C: Power supply requirements

Input voltage and cable drop

Discusses input voltage requirements and calculating cable voltage drop.

Appendix C: Power supply requirements

Input voltage and cable drop

Discusses input voltage requirements and calculating cable voltage drop.

Overvoltage and power consumption

Warns against overvoltage and details power consumption characteristics.

Appendix C: Power supply requirements

Input voltage and cable drop

Discusses input voltage requirements and calculating cable voltage drop.

Overvoltage and power consumption

Warns against overvoltage and details power consumption characteristics.

Power Up;Down requirements

Details voltage requirements during power-up and power-down sequences.

Appendix D: Nonlinear reflectivity mapping

Reflectivity field mapping

Explains linear and nonlinear mapping of reflectivity values.

Appendix E: Legal notice

Hesai XT32M2X Specifications

General IconGeneral
Field of View (Horizontal)360°
Weight1.2 kg
Operating Frequency905 nm
Protection RatingIP67
Update Rate10 Hz

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