2ASO2PANDAR128Rangefinder

Pandar128 128-Channel MechanicalLiDAR UserManual HESAIWechat www.hesaitech.com 128-en-2001A3 Contents 1Introduction ........................................................................................................ 4 1.1OperatingPrinciple .............................................................................................. 4 1.2LiDARStructure ..................................................................................................... 5 1.3ChannelDistribution ........................................................................................... 6 1.4Specifications ......................................................................................................... 7 2Setup....................................................................................................................8 3DataStructure.................................................................................................18 3.1PointCloudDataPacket ....................................................................... 19 3.2GPSDataPacket ...................................................................................... 24 4WebControl.....................................................................................................30 4.1Home .......................................................................................................... 31 4.2Settings .................................................................................................................. 32 4.3HighResolution .................................................................................................. 36 4.4OperationStatistics ........................................................................................... 37 4.5Monitor .................................................................................................................. 38 4.6Upgrade ..................................................................................................... 39 5PandarView......................................................................................................40 5.1Installation ............................................................................................................ 40 5.2Use ........................................................................................................................... 41 5.3Features ................................................................................................................. 43 6CommunicationProtocol.............................................................................47 6.1PacketStructure ................................................................................................. 47 6.2FrequentlyUsedCommands ............................................................... 48 7SensorMaintenance......................................................................................56 8Troubleshooting ............................................................................................. 57 AppendixIChannelDistribution...................................................................59 AppendixIIAbsoluteTimeandLaserFiringTime .................................... 68 II.1AbsoluteTimeofPointCloudDataPackets .................................... 68 II.2StartTimeofEachBlock ....................................................................... 69 II.3LaserFiringTimeofEachChannel .............................................................. 70 AppendixIIIPTPProtocol ............................................................................... 86 AppendixIVCertificationInfo.........................................................................88 AppendixVSupportandContact..................................................................89 SafetyNotice PLEASEREADANDFOLLOWALLINSTRUCTIONSCAREFULLYANDCONSULTALLRELEVANTNATIONALANDINTERNATIONALSAFETYREGULATIONS FORYOURAPPLICATION. ◼Caution Toavoidviolatingthewarrantyandtominimizethechancesofgettingelectricallyshocked,pleasedonotdisassemblethedevice.Thedevicemustnotbe tamperedwithandmustnotbechangedinanyway.Therearenouser-serviceablepartsinsidethedevice.Forrepairsandmaintenanceinquiries,please contactanauthorizedHesaiTechnologyserviceprovider. ◼LaserSafetyNotice–LaserClass1 Thisdevicesatisfiestherequirementsof ▪IEC60825-1:2014 ▪ 21CFR1040.10and1040.11exceptfordeviations(IEC60825-1Ed.3)pursuanttoLaserNoticeNo.56,datedMay8,2019 NEVERLOOKINTOTHETRANSMITTINGLASERTHROUGHAMAGNIFYINGDEVICE(MICROSCOPE,EYELOUPE,MAGNIFYINGGLASS,ETC.) 1 2 ◼SafetyPrecautions Inallcircumstances,ifyoususpectthatthedevicemalfunctionsorisdamaged,stopusingitimmediatelytoavoidpotentialhazardsandinjuries.Contactan authorizedHesaiTechnologyserviceproviderformoreinformationondevicedisposal. Handling Thisdevicecontainsmetal,glass,plastic,aswellassensitiveelectroniccomponents.Improperhandlingsuchasdropping,burning,piercing,andsqueezing maycausedamagetothedevice. Incaseofdroppingthedevice,STOPusingthedeviceimmediatelyandcontactHesaitechnicalsupport. Enclosure Thisdevicecontainshigh-speedrotatingparts.Toavoidpotentialinjuries,DONOToperatethedeviceiftheenclosureislooseordamaged. Toensureoptimalperformance,donottouchthedevice’senclosurewithbarehands.Iftheenclosureisalreadystained,pleaserefertotheSensor Maintenancechapterinusermanualsforthecleaningmethod. EyeSafety AlthoughthedevicemeetsClass1eyesafetystandards,DONOTlookintothetransmittinglaserthroughamagnifyingdevice(microscope,eyeloupe, magnifyingglass,etc.). Formaximumself-protection,avoidlookingdirectlyatthedevicewhenitisinoperation. Repair DONOTopenandrepairthedevicewithoutdirectguidancefromHesaiTechnology.Disassemblingthedevicemaycausedegradedperformance,failurein waterresistance,orpotentialinjuriestotheoperator. PowerSupply UseonlythecablesandpoweradaptersprovidedbyHesaiTechnology.Onlythepoweradaptersthatmeetthedevice’spowerrequirementsand applicablesafetystandardscanbeused.Usingdamagedcables,adaptersorsupplyingpowerinahumidenvironmentcan…

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022311 – 6 Request for Confidentiality Date: __April 7, 2020______ Subject: Confidentiality Request for: _____2ASO2PANDAR128______ Pursuant to FCC 47 CRF 0.457(d) and 0.459 and IC RSP-100, Section 10, the applicant requests that a part of the subject FCC application be held confidential. Type of Confidentiality Requested Exhibit Short Term Permanent Block Diagrams Short Term External Photos Short Term Permanent* 2 Internal Photos Short Term Permanent Operation Description/Theory of Operation Short Term Permanent Parts List & Placement/BOM Short Term Permanent Tune-Up Procedure Short Term Permanent Schematics Short Term Test Setup Photos Short Term Permanent* User’s Manual ______Hesai Photonics Technology Co., Ltd._____ has spent substantial effort in developing this product and it is one of the first of its kind in industry. Having the subject information easily available to "competition" would negate the advantage they have achieved by developing this product. Not protecting the details of the design will result in financial hardship. Permanent Confidentiality: The applicant requests the exhibits listed above as permanently confidential be permanently withheld from public review due to materials that contain trade secrets and proprietary information not customarily released to the public. Short-Term Confidentiality: The applicant requests the exhibits selected above as short term confidential be withheld from public view for a period of ___(specify number of days not to exceed 180) 3 ___ days from the date of the Grant of Equipment Authorization and prior to marketing. This is to avoid premature release of sensitive information prior to marketing or release of the product to the public. Applicant is also aware that they are responsible to notify ACB in the event information regarding the product or the product is made available to the public. ACB will then release the documents listed above for public disclosure pursuant to FCC Public Notice DA 04-1705. NOTE for Industry Canada Applications: The applicant understands that until such time that IC distinguishes between Short Term and Permanent Confidentiality, either type of marked exhibit above will simply be marked Confidential when submitted to IC. Sincerely, By: __Certification Manager______ ______Jinyu Li__________________ (Signature/Title 4 ) (Print name) 2 - The asterisked items (*) require further justification before permanent confidentiality will be allowed. These also currently require review by the FCC under their Permit-But-Ask policy before the grant is issued and can delay completion of an application. Further justification should be added to the note above. One such example for a potted device would be: “The EUT is FULLY potted using a non-removable epoxy based material. Removal of potting material causes irreparable damage to internal circuitry. See photographs exhibits that outline the device before and after potting.” 3 - Please refer to http://acbcert.com/documents/misc-docs/Memo-Short-Term-Vs-Standard-Confidentiality.pdf for complete details. 4 - Must be signed by applicant contact given for applicant on the FCC site, or by the authorized agent if an appropriate authorized agent letter has been provided. Letters should be placed on appropriate letterhead.

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FangguangInspection&TestingCo.,Ltd. Phone:+86-510-68790033 Web:www.fgtest.cn PageNumber:1of18 ReportNo.:S202004071768E01 ReportVersion:V02 IssueDate:12-27-2021 Applicant:HesaiTechnologyCo.,Ltd. Address:No.2Building,No.468XinlaiRoad,JiadingDistrict, ShanghaiCity,China ApplicationType:FCCIDCertification FCCID:2ASO2PANDAR128 Product:Rangefinder ModelNo.:Pandar128 FCCRulePart(s):CFRTitle47Part15SubpartB:2017ClassA ICRulePart(s):ICES003Issue62017ClassA TestProcedure(s):ANSIC63.4:2014 Result:Pass TestDate:April03,2020 FCCTESTREPORT FCCCFRTitle47Part15SubpartB:2017ClassA /ICES003Issue62017ClassA CompiledBy (LineChen) SeniorTestEngineer ApprovedBy (KerryZhou) SeniorTestEngineer Thetestresultsrelateonlytothesamplestested. Thisequipmenthasbeenshowntobecapableofcompliancewiththeapplicabletechnicalstandardsas indicatedinthemeasurementreportandwastestedinaccordancewiththemeasurementproceduresspecified inANSIC63.4-2014.Testresultsreportedhereinrelateonlytotheitem(s)tested. ThetestreportshallnotbereproducedexceptinfullwithoutthewrittenapprovalofFangguangInspection& TestingCo.,Ltd.WuxiBranch ReportNo.:S202004071768E01 PageNumber:2of18 RevisionHistory ReportNo.VersionDescriptionIssueDate S202004071768E01Rev.01/04-08-2020 S202004071768E01Rev.02 1、Revisedthenameandaddressofthe applicant 2 、 DeletedtheEUTphotos 12-27-2021 ReportNo.:S202004071768E01 PageNumber:3of18 CONTENTS DescriptionPage 1.GeneralInformation .................................................................................................................................... 4 2.INTRODUCTION ........................................................................................................................................... 5 2.1.Scope ................................................................................................................................................... 5 2.2.FangguangTestLocation ................................................................................................................. 5 3.PRODUCTINFORMATION ......................................................................................................................... 6 3.1.EquipmentDescription ...................................................................................................................... 6 3.2.ConfigurationofTestedSystem ...................................................................................................... 6 3.3.TestMode ........................................................................................................................................... 7 3.4.DescriptionofAuxiliaryEquipment ................................................................................................. 7 3.5.EMISuppressionDevice(s)/Modifications ..................................................................................... 7 4.DESCRIPTIONOFTEST ............................................................................................................................ 8 4.1.EvaluationProcedure ........................................................................................................................ 8 4.2.ACLineConductedEmissions ........................................................................................................ 8 4.3.RadiatedEmissions ........................................................................................................................... 9 5.LISTOFUSEDTESTEQUIPMENT ........................................................................................................ 10 6.TESTRESULT ............................................................................................................................................. 11 6.1.Summary ........................................................................................................................................... 11 6.2.ConductedEmissionMeasurement ............................................................................................. 12 6.2.1.TestLimit ........................................................................................................................................ 12 6.2.2.TestSetup ...................................................................................................................................... 12 6.2.3.TestResultofConductedEmissions ........................................................................................ 13 6.3.RadiatedEmissionMeasurement ................................................................................................. 15 6.3.1.TestLimit ........................................................................................................................................ 15 6.3.2.TestSetup ...................................................................................................................................... 15 6.3.3.TestResultofRadiatedEmissions ............................................................................................ 16 7.CONCLUSION ............................................................................................................................................ 18 ReportNo.:S202004071768E01 PageNumber:4of18 1.GeneralInformation Applicant:HesaiTechnologyCo.,Ltd. ApplicantAddress:No.2Building,No.468XinlaiRoad,JiadingDistrict,ShanghaiCity, China Manufacturer:HesaiTechnologyCo.,Ltd. ManufacturerAddress:No.2Building,No.468XinlaiRoad,JiadingDistrict,ShanghaiCity, China Factory:HesaiTechnologyCo.,Ltd. FactoryAddress:No.2Building,No.468XinlaiRoad,JiadingDistrict,ShanghaiCity, China TestSite:FangguangInspection&TestingCo.,Ltd.WuxiBranch TestSiteAddress:200LinghuAvenue,XinwuDistrict,WuxiCity,China TestDeviceSerialNo.:N/AProductionPre-ProductionEngineering ReportNo.:S202004071768E01 PageNumber:5of18 2.INTRODUCTION 2.1.Scope Measurementanddeterminationofelectromagneticemissions(EMC)ofradiofrequencydevices includingintentionaland/orunintentionalradiatorsforcompliancewiththetechn…

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TestSetup 30MHz~1GHzTestSetup: