Livox Mid-70

User Manual v1.2

2021.02
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Using this Manual

Legend

Warning Important Hints and Tips Explanation

Downloading Documents

Visit the link below to download the latest Livox Mid-70 User Manual and other documents related to the
Livox Mid-70.
www.livoxtech.com/mid-70

Downloading Livox Viewer

Visit the link below to download Livox Viewer and the Livox Viewer User Manual.
www.livoxtech.com/mid-70

Downloading Livox SDK

Visit the link below to download the Livox SDK:

https://github.com/Livox-SDK

2   © 2020 Livox Tech. All Rights Reserved.

Contents

Using this Manual 2

Legend 2
Downloading Documents 2
Downloading Livox Viewer 2
Downloading Livox SDK 2
Product Profile 4
Introduction 4
Product Characteristics 4
Overview 6
Connectors 7
M12 Aviation Connector 7
Power Cable and Sync Cable 8
Ethernet Port 9
Mounting the Livox Mid-70 9
Effective Field of View (FOV) Range 9
Mounting Notice 10
Dimensions 10
Getting Started 12
External Power Supply 12
Connection 13
Usage 15
Coordinates 15
Output Data 15
Working States & Working Modes 18
Dual Return Mode 18
Livox Viewer 19
Software Development Kit (SDK) 19
Storage, Transportation, and Maintenance 19
Storage 19
Transportation 19
Maintenance 20
Troubleshooting 20
After-Sales Information 21
Appendix 21
Appendix 1 21
Appendix 2 22
Appendix 3 23
Specifications 23

© 2020 Livox Tech. All Rights Reserved.   3

Product Profile
Introduction
The Livox Mid-70 is a high-performance LiDAR sensor that can be used for multiple applications including autonomous
driving, industrial robots, indoor and outdoor service robots, or any robots used in special applications. Specifically,
the Mid-70 can be used with automated guided vehicles (AGV), autonomous mobile robots (AMR), automated trucks,
medical logistics robots, cleaning robots, terminal delivery robots, and intelligent security robots. The Livox Mid-70 can
detect objects as close as 0.05 meters away, and has a detection range of up to 260 meters.
Wide FOV: Compared with Mid-40, the Mid-70 has a larger circular field of view (FOV) of 70.4°, increasing its
ability to detect both near and distant objects.
Small Blind Zone: The blind zone of the Mid-70 is 5 cm, and the detection precision from 0.2 to 1 m is 3 cm.
Users can adjust the Mid-70 angle to completely eliminate the blind zone. It is recommended to embed the
Mid-70 in an automotive device before adjusting the angle.
Non-Repetitive Scanning Technology: Livox’s unique non-repetitive scanning technology ensures a high-
density point cloud, and can precisely detect every detail inside the FOV.
High Reliability: The Mid-70 offers enhanced reliability as the cutting-edge optoelectronic system design works
normally without rotating internal electronic devices such as a transmitter and receiver. The Mid-70 has undergone
rigorous reliability testing required by the automotive industry. In addition, the Mid-70 has achieved an IP67
waterproof and dustproof rating under GB 4208-2008 and IEC 60529 standards. Note the included cables and
mounting bracket do not meet the same standards.
User-Friendly Livox Viewer: Livox Viewer is a software specially designed for Livox LiDAR sensors. It displays
and records real-time point cloud data, replays point cloud videos, and analyzes the 3D point cloud data. Users
can set product parameters and calibrate extrinsics using Livox Viewer. The simple interface makes Livox
Viewer easy to use.
Open Source Livox SDK: a software development kit (SDK) is provided to help develop customizable applications
using the data acquired from the point cloud data. Livox SDK supports Windows/Linux/Mac OS/ROS.

• The Mid-70 has a detection range of up to 260 m, which can be reached when the target object reflects
80% or more of light. For reference, grey concrete walls and roads have a reflectivity range from 15%
to 30%, while white plaster walls have a reflectivity range from 90% to 99% in an environment with a
temperature of 25° C (77° F).
• Before using for the first time, remove the screen protector from the optical window.

Product Characteristics

The Livox Mid-70 has a high coverage ratio due to its unique non-repetitive scanning technology. Over time, the
coverage inside the FOV increases significantly and reveals more detailed information of the surroundings.
Figure 1.2.1 displays the typical point cloud patterns of the Livox Mid-70 over an extended period.
130 130 130 130
120 120 120 120
110 110 110 110
100 100 100 100
Zenith/ deg

Zenith/ deg

Zenith/ deg

Zenith/ deg

90 90 90 90
80 80 80 80
70 70 70 70
60 60 60 60
50 50 50 50
-40 -30 -20 -10 0 10 20 30 40 -40 -30 -20 -10 0 10 20 30 40 -40 -30 -20 -10 0 10 20 30 40 -40 -30 -20 -10 0 10 20 30 40
Azimuth/ deg Azimuth/ deg Azimuth/ deg Azimuth/ deg

Figure 1.2.1 Point cloud patterns of the Livox Mid-70 accumulated over an extended period
Figure 1.2.2 displays the FOV coverage of Mid-70 compared with traditional mechanical LiDAR sensors that
use common mechanical scanning methods. The diagram shows that when the integration time is 0.2 seconds,
the FOV coverage of the Livox Mid-70 is similar to a 32-line LiDAR sensor. As the integration time increases,
however, the FOV coverage of the Livox Mid-70 increases significantly. After 1.5 seconds, the FOV coverage
approaches 86%, so almost all areas would be illuminated by laser beams. In this way, more details in the FOV
can be revealed.
4   © 2020 Livox Tech. All Rights Reserved.
 Livox Mid-70 User Manual

100

90

80
Livox-Mid-70
FOV Coverage (%)

70

64 Lines
60

50

40

30
32 Lines
20

10 16 Lines

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.5
Integration time (s)
Figure 1.2.2 The FOV coverage of the Mid-70 and non-Livox LiDAR sensors using common mechanical scanning
methods. The 16-line non-Livox LiDAR sensor has a vertical FOV of 30°, the 32-line non-Livox LiDAR sensor is 41°, and
the 64-line non-Livox LiDAR sensor is 27°.

The performance of the scanning method is defined by the FOV coverage, which is calculated as
the fraction of FOV illuminated by laser beams. The FOV coverage (C) can be calculated with the
following formula:
Total area illuminated by laser beams
C= ×100%
Total area in FOV

Refer to the official Livox website for more information about how the FOV coverage is calculated.

Table 1.2.1 Point cloud specifications

Laser Wavelength 905 nm

Laser Safety Class 1 (IEC 60825-1:2014) (Safe for eyes)

Detection Range (@ 100 klx) 90 m @ 10% reflectivity;

130 m @ 20% reflectivity;
260 m @ 80% reflectivity
Close Proximity Blind Zone 0.05 m

FOV 70.4° (circular)

Distance Random Error 1σ (@ 20 m) ≤ 2 cm

1σ (@ 0.2~1 m) ≤ 3 cm
Angular Random Error 1σ < 0.1°

Beam Divergence 0.28° (Vertical) × 0.03° (Horizontal)

Point Rate 100,000 points/s (first or strongest return)

200,000 points/s (dual return)

False Alarm Ratio (@100 klx) < 0.01%

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Livox Mid-70 User Manual

• Close Proximity Blind Zone: Target objects within 0.05 to 0.2 m from the Mid-70 can be detected and
point cloud data can be recorded. However, since the detection precision cannot be guaranteed, the data
should be taken as a reference only.
• Tested in an environment at a temperature of 25° C (77° F) with a target object that has a reflectivity of
30% and is 20 meters away from the Livox Mid-70. The actual environment may differ from the testing
environment. The figure listed is for reference only.
• Tested in an environment at a temperature of 25° C (77° F) with a target object that has a reflectivity of
30% and is within the range of 0.2 to 1 meters from the Livox Mid-70. The actual environment may differ
from the testing environment. The figure listed is for reference only.
• The performance may decrease in extreme environments such as those with foggy weather, that cause
strong vibration, or where the temperature is -20° C (-4° F) or 65° C (149° F).

Overview
Livox Mid-70

2
3

4
5

1. Optical Window Used with the conversion cable, the M12 aviation
The laser passes through the optical window and connector connects to the Livox Converter 2.0
scans objects in the FOV. to carry out a quick performance test of the Mid-
2. M3 Mounting Holes 70. If users wish to improve the waterproof and
Make sure to use the correct screws when dustproof protection of their system, they can
mounting. replace the conversion cable with a cable of
their own. Refer to the Cables section for more
3. Locating Hole
information.
The locating hole makes it easy for users to find
the correct location to mount a fixed support for 5. Conversion Cable
the Mid-70. Refer to the Dimensions section for The Livox Mid-70 includes a conversion cable. To
more information. connect the Livox Mid-70 to the Livox Converter
2.0, users can use this cable or a cable of their
4. M12 Aviation Connector
own. Refer to the Cables section for more
Used with the conversion cable, the M12 aviation
information.
connector connects to the Livox Converter 2.0 to
implement a quick performance test of the Mid-70.

6   © 2020 Livox Tech. All Rights Reserved.

 Livox Mid-70 User Manual

Livox Converter 2.0

2 3 4

1. LiDAR Connector Port 3. Ethernet Port

A JAE MX34012NF1 type connector port is used An RJ45 type Ethernet connector is used to
to connect to the Mid-70. The mating connector is connect to Ethernet cables.
JAE MX34012SF1 LiDAR. 4. Sync Port
2. Power Port The 3-pin sync port supports 3.3V LVTTL sync
Connects to an external power supply. When the signal input. Refer to Table 2.2.2 for more
Mid-70 is connected to the Livox Convertor 2.0, information. The mating connector of the sync
users can use a power supply of 9 to 30 V. The port connector is Famfull 9.510A0-003-1R0. JST
connector type is MOLEX 1053313-1102. The GHR-03V-S is also compatible.
mating connector is MOLEX 105307-1202.

Connectors
M12 Aviation Connector
The Mid-70 uses the high-reliability M12 aviation connector (male). It is a M12 12P A-code fully
shielded male connector that meets the IEC61076-2-101 standard. The connector type is Finecables
MA12MAHD12STXXXB14 and its mating connector is Finecables MA12FAHD12STXXXB14, both of which meet
the IP rating of IP67. When the M12 aviation connector is used with the conversion cable, users can connect
the Mid-70 to the Livox Connector 2.0 for connecting power and transmitting control signals and data. If users
wish to improve the waterproof and dustproof protection of their system, they can replace the conversion cable
with a cable of their own.

6
7 5
12 11
8 4

9 10 3
1 2

© 2020 Livox Tech. All Rights Reserved.   7

Livox Mid-70 User Manual

Conversion Cable
To connect the Mid-70 to the Livox Converter 2.0, users can use this cable or a cable of their own.

6
5 7
11 12
4 8
1 2 3 4 5 6
10 9
7 8 9 10 11 12 3
LiDAR Connector M12 Aviation 2 1
Connector (Female)

Figure 2.1.1 Conversion Cable

Below is more information on the Livox Mid-70 M12 aviation connector and the aviation and converter
connector cable.

Table 2.1.1 Conversion Cable description

LiDAR Connector M12 Aviation

Signal Type Description Color
Pin Connector Pin

1 1 Power+ Power DC10V-15V Blue/white

7 9 Power+ Power DC10V-15V Blue

2 2 Ground Power Ground Silver bare wire

8 3 Ground Power Ground Silver bare wire

3 4 Ethernet-TX+ Output 100BASE-TX, TX+ Orange/white

4 5 Ethernet-TX- Output 100BASE-TX, TX- Orange

9 6 Ethernet-RX+ Input 100BASE-TX, RX+ Green/white

10 7 Ethernet-RX- Input 100BASE-TX, RX- Green

5 8 Ground Power Ground Silver braided wire

11 10 Ground Power Ground Silver braided wire

12 11 Sync- Input RS485_B, Pulse Per Second Grey

6 12 Sync+ Input RS485_A, Pulse Per Second Grey/white

Power Cable and Sync Cable

The Mid-70 cables package includes a power cable and sync cable.

Power Cable
Connect “A” to the power port of the Livox Converter 2.0 and connect “B” to an external DC power supply. The
connector type of this power cable is MOLEX 105307-1202.

500±25 mm
A B
1
2

Figure 2.2.1 Power cable

8   © 2020 Livox Tech. All Rights Reserved.

 Livox Mid-70 User Manual

Table 2.2.1 Power cable description

Pin Signal Type Description Color

1 Power+ Power DC 10 - 30 V (max 30 V) Red

2 Ground Power Ground Black

Sync Cable
Connect “A” into the sync port of the Livox Converter 2.0 and connect “B” to the sync signal. The sync cable
has a 3-pin connector. The connector type is Famfull 9.510A0-003-1R0, which is compatible with JST GHR-
03V-S type connectors. Refer to the Data Synchronization section for more information.

500±25 mm
A B
1
2
3

Figure 2.2.2 Sync cable

Table 2.2.2 Sync cable description

Pin Signal Type Description Color

1 Ground Power Ground Black

2 Sync+ Input 3.3 V LVTTL, Pulse Per Second Blue

3 Reserved Reserved Undefined White

Ethernet Port
The Livox Converter 2.0 supports a 100BASE-TX standard RJ45 Ethernet port. The Mid-70 uses two twisted
pairs to send and receive data.

Mounting the Livox Mid-70

Effective Field of View (FOV) Range
As shown below, the Mid-70 has a circular FOV of 70.4°. When mounting a Livox LiDAR sensor, make sure that
the FOV is not blocked by any objects. Go to www.livoxtech.com/mid-70 to download the 3D models of the
Mid-70 and its FOV.

70.4° 70.4°
35.2° 35.2°

32.4

Vertical
Horizontal

Figure 3.1.1 Effective FOV of the Mid-70 Unit: mm

© 2020 Livox Tech. All Rights Reserved.   9

Livox Mid-70 User Manual

Note that the effective detection range of the Livox Mid-70 varies based on where the object is within the FOV.
The closer to the edge of the FOV, the shorter the effective detection range is. The closer to the center of the
FOV, the farther the effective detection range. Refer to the diagrams below:

75° 90° 105° -15° 0° 15°

60° 120° -30° 30°
90 90
100 100
70 70 80 70 70 80
60 60
40 40
20 20
0 0

10% reflectivity

Vertical Horizontal Unit: m

Figure 3.1.2 Effective FOV of the Mid-70

As shown above, when an object with a reflectivity of 10% is placed in the center of the FOV, the object can be
detected as far as 90 m. However, as the object moves towards the edge of the FOV, the distance at which it
can be detected shortens accordingly. Pay attention to the effective detection range when the Mid-70 is in use.

Mounting Notice
Read and understand the following warnings before mounting the Mid-70.
1. Before use, remove the screen protector from the optical window.
2. Significant dust and stains on the optical window will affect the performance of the Mid-70 sensor. Follow
the instructions in the Maintenance section to clean the optical window using compressed air, isopropyl
alcohol, or a lens cloth.
3. When mounting the Mid-70, the field of view must not be blocked by an object, including glass. Refer to
Figure 3.1.1.
4. There are no restrictions on which direction the Mid-70 can be installed. The top or bottom surface can be
used to mount the Mid-70. It is recommended that the surface is parallel to the ground when mounting.
5. The Mid-70 cannot bear any extra payload. Otherwise, the reliability of the product cannot be guaranteed.

Dimensions
Mounting the Mid-70 without Mounting Bracket
The bottom surface of the Mid-70 has four M3 mounting holes with a depth of 5 mm. Refer to the dimensions
and the mounting holes in the diagrams below to mount or embed the Mid-70 to or in an appropriate place on
the target base.

35.5 35.5 4-M3 5 35.5 35.5

4.0 1.3 4.0 1.5

4.0 1.5
4.0 1.3

46.0
46.0

4-M3 4.8
1.0 1.0

6.0 61.0 6.0 61.0

64.0 12.5°
10   © 2020 Livox Tech. All Rights Reserved.
 46.0

46.

1.5
4-M3 4.8

4.0
1.0 1.0
Livox Mid-70 User Manual
6.0 61.0 6.0 61.0
64.0 12.5°
62.7

32.4
15.4

21.7
15.8
18.2
97.0 Unit: mm

Figure 3.2.1 The Mid-70 Dimensions

(refer to Appendix 1)

Table 3.2.1 The Mid-70 Weight & Dimensions

Weight (with cable) Approx. 580 g

Dimensions 97×64×62.7 mm

Mounting the Mid-70 with Mounting Bracket

It is recommended to first attach the Mid-70 to the mounting bracket using the M3 mounting hole and then
mount the Mid-70 using the M6 mounting hole on the mounting bracket. There is one 1/4 inch mounting hole
available on the center of the mounting bracket to help mount the Mid-70 based on your requirements.
6- 3.4
4.0- 6.6 6.4 3.2
9.0
+0.08
2- 4.00 2.2
0
2- 4.0 -0.06 2-6.4 3.2
26.0 12.8 22.2
80.0

2-3.4 Through
70.0

4.0 0
+0.08
2.2
97.0

1/4-20UNC
36.0
14.0 4.0

2.0
11.0 14.0
8.5

4.5
12.0

85.0 46.0

100.0 5.7
Unit: mm

Table 3.2.2 The Mounting Bracket Weight & Dimensions

Weight Approx. 76 g

Dimensions 100×97×5.7 mm

© 2020 Livox Tech. All Rights Reserved.   11

Livox Mid-70 User Manual

Livox Converter 2.0

Refer to the dimensions below to mount the Livox Converter 2.0.
52 22.9 37

4-M2 2.5
74

66
Unit: mm

Table 3.2.3 Livox Converter 2.0 Weight & Dimensions

Weight Approx. 88 g

Dimensions 74×52×23 mm

Getting Started
External Power Supply
The working voltage range of the Mid-70 is from 10 to 15 V, with a recommended working voltage of 12 V.
The minimum working voltage should be increased in a low-temperature environment. When the Mid-70 is
connected to an external power source directly, make sure the output voltage range of the external power
source is within the working voltage range of the Mid-70. When an extension cable is required, make sure to
increase the output voltage of the external power source due to the extra voltage reduction. Make sure the
maximum voltage does not exceed 15 V. Note that the power cable may generate voltage fluctuation where
the voltage exceeds 15 V in some scenarios such as if the power cable is interfered with or other devices
connected to another power source in the parallel circuit suddenly power off. In such scenarios, the Mid-70
may not work normally or even be damaged.
Normally, the working power of the Mid-70 is 8 W. In an environment where the temperature is from -20° to 0°
C (–4° to 32° F), the Mid-70 will first enter self-heating mode automatically, which lasts at least three minutes. In
self heating mode, the working power of the Mid-70 may reach up to 40 W. The working power of the Mid-70
varies at different temperature. Below shows the relationship between the temperature of the environment and
the working power of the Mid-70. Make sure the power supply is suitable based on the peak power of the Livox
Mid-70. The value is for reference only. In normal conditions, the peak power varies depending on each sensor.
45

40
35
30
25
(W) (W)

20
Power

15
功率

Startup Power
10
5 Operating Power
0
-20 -10 0 10 20 30 40 50 60 65
温度 (°C) (℃)
Temperature
Figure 4.1.1 The working power of the Mid-70 at varying temperatures

12   © 2020 Livox Tech. All Rights Reserved.

 Livox Mid-70 User Manual

Connection

The Mid-70 uses M12 aviation connector for power supply as well as control signal and data transmission.
Refer to the Cables section for more information about the connector. The Livox Converter 2.0 integrates
a LiDAR port, a sync port, a power port, and an Ethernet port. For temporary use or to ensure optimal
performance, it is recommended to always use a Livox Converter 2.0 and a conversion cable.
The Mid-70 uses an Ethernet cable for data transmission and supports user datagram protocol (UDP). Both
static and dynamic IP address configurations are supported. All Mid-70 sensors are set to static IP address
mode by default with an IP address of 192.168.1.1XX (XX stands for the last two digits on the serial number of
the Mid-70 sensor). The default subnet masks of the Mid-70 sensors are all 255.255.255.0, and their default
gateways are 192.168.1.1. Directly connect the Mid-70 to the computer when using for the first time.
The static and dynamic IP addresses are connected in different ways. 1. The static IP address is connected by
default and in this mode, the Mid-70 can be connected to a computer directly. 2. To connect to the dynamic
IP address, make sure the Mid-70 is switched to dynamic IP mode by using Livox Viewer or the Livox SDK. In
dynamic address mode, the addresses are assigned to the Mid-70 using dynamic host configuration protocol
(DHCP).

Static IP address:
1. Follow the steps to set the IP address of your computer to static IP address:

Windows system
a. Click to enter the Network and Sharing Center under Control Panel.
b. Click the network you are using and click “Properties”.
c. Double click “Internet Protocol Version 4 (TCP/IPv4)”.
d. Set the static IP address of the computer to 192.168.1.50 and the subnet mask to 255.255.255.0. Click
“OK” to complete.
Ubuntu-16.04 system
The IP address of the computer can be configured by using ifconfig command at the terminal. The
configuration code is as below:
~$ sudo ifconfig enp4s0 192.168.1.50 (replace “enp4s0” with the network port name of the computer)
2. Connect the Mid-70, Livox Converter 2.0, external power source, and computer by following Figure 4.2.1.

Livox Mid-70

Ethernet Cable
External Power Source

Livox Converter 2.0

Figure 4.2.1 Connecting using static IP address

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Livox Mid-70 User Manual

a. Connect the Mid-70 to the 1.5m aviation connector and converter connector cable. Next, connect the
1.5m cable to the Livox Converter 2.0.
b. Connect the computer and the Livox Converter 2.0 to the router using Ethernet cables. Make sure both
the Livox Converter 2.0 and the computer are connected to the LAN port on the router.
c. Connect the Livox Converter 2.0 to an external power source.

• If necessary, use the sync cable to connect with the sync port of Livox Converter 2.0 and sync source.
• If multiple Mid-70 sensors are set to static IP addresses, make sure all the Mid-70 sensors have different
IP addresses and use a switchboard to connect them to the computer.
• If more than six Mid-70 sensors are required, use a kilomega router or switchboard.
• The broadcast number for each LiDAR sensor can be viewed in the Device Manager of Livox Viewer or
the Livox SDK. For the Mid-70, the broadcast number will be its serial number ending in an additional “1”.
• Launch Livox Viewer after the Mid-70 is connected. Click the device with the static IP address that
should be altered. Click to open the settings page and set the static IP address of the Mid-70.

Dynamic IP address:
1. Follow Figure 4.2.1 to connect the Mid-70, conversion cable, Livox Converter 2.0, external power source,
and computer.
2. Run Livox Viewer, click to open the settings page, and set the IP address of the Mid-70 to dynamic IP
address.
3. Disconnect the Mid-70, conversion cable, Livox Converter 2.0, external power source, and computer.
4. Follow the steps to set the IP address of your computer to dynamic IP address:

Windows system
a. Click to enter the Network and Sharing Center under Control Panel.
b. Click the network you are using and click “Properties”.
c. Double click “Internet Protocol Version 4 (TCP/IPv4)”.
d. Select “Obtain an IP address automatically” and “Obtain DNS server address automatically”, then click “OK”
to complete.

Ubuntu-16.04 system
a. Click to open “Network”.
b. Click “IPv4”, and then click “Automatic (DHCP)”. Click “Apply” to complete.
5. Connect the Mid-70, conversion cable, Livox Converter 2.0, router, computer, and external power supply by
following Figure 4.2.2.

External Power Supply

Livox Mid-70
Ethernet Cable
Router with DHCP

Figure 4.2.2 Connecting using dynamic IP address

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 Livox Mid-70 User Manual

a. Connect the Mid-70 to the 1.5m aviation connector and converter connector cable. Next, connect the
1.5m cable to the Livox Converter 2.0.
b. Connect the computer and the Livox Converter 2.0 using an Ethernet cable.
c. Connect the Livox Converter 2.0 to an external power source.

• If necessary, use the sync cable to connect with the sync port of Livox Converter 2.0 and sync source.
• If more than six Mid-70 sensors are required, use a kilomega router or switchboard.
• The broadcast number for each LiDAR sensor can be viewed in the Device Manager of Livox Viewer or
the Livox SDK. For the Mid-70, the broadcast number will be its serial number ending in an additional “1”.

Usage
Coordinates
The Cartesian coordinates O-XYZ of Mid-70 is defined as below:

Z
70.4° 70.4° Z

35.2° 35.2°

Z
o X X
32.4
Y

X Y Y
16.2

Unit: mm
Figure 5.1.1 Coordinates of the Mid-70

Output Data
The output information of the Mid-70 sensors includes point cloud data, which have timestamp, status codes,
target reflectivity, coordinates, and tag information.

Point Cloud Data

A point cloud is the collection of the points where the surface of an object was detected in the FOV
of the LiDAR sensor. Each point contains the following information.
Target reflectivity: 0 to 255. 0 to 150 corresponds to the reflectivity within the range of 0 to 100%
in the Lambertian reflection model. 151 to 255 corresponds to the reflectivity of target objects with
retroflection properties. When the target is less than 2 m from the Mid-70, it may result in a large
reflectivity error. The data should be taken as a reference only.
Coordinates: can be expressed as Cartesian coordinates (x, y, z) and Spherical coordinates (r, θ, φ).
The relationship between Cartesian and Spherical coordinates is shown in the figure below. When
there is no object within the detection range or the object is placed outside the detection range, the
coordinates of the point cloud will be expressed as (0, 0, 0) in Cartesian coordinates and as (0, θ, φ)
in Spherical coordinates. Z
P(r,θ,φ) 70.4° 70.4°
θ
35.2° 35.2°

x= r×sin(θ)×cos(φ) Z
o X X
φ y = r×sin(θ)×sin(φ) 32.4
X Y z = r×cos(θ) Y
M 16.2
Figure 5.2.1.1 Relationship between Cartesian coordinates and Spherical coordinates

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Livox Mid-70 User Manual

Tags: Indicates the return type of the laser and if the point detected is a noise. The format of the tag is as
shown below:
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
Point property based Return number: Point property based on Point property based on
on nearby waveform 00: return 0 intensity: spatial position:
distortion: 01: return 1 00: Normal 00: Normal
00: Normal 10: return 2 01: Noise that does not meet 01: High confidence level of
01: Nearby waveform 11: Reserved intensity expectations the noise
distortion 10: Reserved 10: Moderate confidence
10: Reserved 11: Reserved level of the noise
11: Reserved 11: Low confidence level of
the noise

Each tag is composed of one byte. In this byte, bit7, and bit6 are Group 1, bit5 and bit4 are Group 2, bit3 and
bit2 are Group 3 while bit1 and bit0 are Group 4.

Group 1 indicates if the sampling point is a noise based on the nearby waveform distortion. Due to the optical
system characteristics of the machine, nearby return signal will be distorted by the stray light inside the system,
leading to unreliable depth calculation results (especially when the return signal energy is small). "01" indicates
that nearby return signal is distorted; "00" indicates that waveform is normal.

Group 2 indicates the return sequence of the sampling point. Featuring a coaxial optical path, the Mid-70 itself
will generate a laser return even if there is no detectable object around. This return is recorded as return 0. After
that, if there is any object within the detectable range, the first laser that returns to the Mid-70 is recorded as
return 1, and then return 2, and so on. If the object is too close to the Mid-70, such as 1.5 m away, the first
effective return will be merged into return 0, and be recorded as return 0.

Group 3 indicates if the sampling point is a noise based on the intensity of the return. Normally, the intensity
of the returns of the noises generated due to the interference of atmosphere particles such as dust, rain, fog,
and snow is quite low. Therefore, the noises are divided into two categories based on the intensity of the return
received. "00" stands for normal point cloud; "01" stands for low intensity of the return, indicating that the
samples have a high possibility of being noises such as dust, rain, and fog. The lower the confidence level of
the sample is, the lower the possibility that it is a noise.

Group 4 indicates if the sampling point is a noise based on its spatial position. Normally, when the Mid-70 sensors
detect two objects in close proximity of each other, there will be some thread-like noises between the two
objects. The noises are divided into three categories. The lower the confidence level of the noise is, the lower
the possibility that it is noise.

Timestamp
There are three ways to synchronize data with the Mid-70: IEEE 1588-2008, Pulse Per Second (PPS), and GPS
(PPS+UTC).

IEEE 1588-2008: IEEE 1588-2008 is the Precision Time Protocol (PTP) enabling precise synchronization of
clocks in measurement and control systems by Ethernet. Livox LiDAR sensors, as the ordinary clock in the PTP,
only supports UDP/IPV4 for PTP. Livox LiDAR sensors support the following message events: Sync, Follow_up,
Delay_req, and Delay_resp.

PPS: PPS uses the sync cable for data synchronization. Refer to the Cables section for more information. The
synchronization logic is shown in the figure below. The pulse interval in PPS is 1s (t0 = 1000 ms) while the
continuous time of high-level voltage is from 20 ms to 200 ms (20 ms <t1<200 ms). The rising edge of PPS
resets the timestamp to zero, so the timestamp of the point cloud data indicates the duration between the point

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 Livox Mid-70 User Manual

cloud sampling and the PPS rising edge.

t0
t0
t1
t1
Pulse Per Second
秒脉冲
(PPS) (PPS)

t0=1000 ms
t0=1s
20 ms < t1 <200 ms
1ms<t1<300ms
Figure 5.2.2.1 Pulse Per Second

GPS: GPS is a way to synchronize the data using the sync cable and UTC time. The PPS port logic is the same
as the PPS synchronization mentioned above. Users are able to send the UTC time of each pulse to the Mid-
70 via SDK communication protocol. Refer to the SDK Communication Protocols section for more information
about commands. The logic of the UTC Time and PPS signal command are shown below. The timestamp of
the point cloud data stands for the UTC sampling time of the point cloud once GPS synchronization is in use.

t0
t1
1
PPS
0
t4
UTC
t0: 1000 ms
t1: 20 ms ≤ t1 ≤ 200 ms
t4: 10 ms ≤ t4 ≤ 500 ms
Figure 5.2.2.2 UTC Time Commands

Status Codes
The status codes display the current working status of the Mid-70 sensors. By checking the status codes,
users can see the temperature status, voltage status, motor status, dust warning, service life warning, and PPS
signal status. Status codes can be viewed in Livox Viewer or the Livox SDK. Refer to the Livox Viewer User
Manual for more information about how to check status codes.

Status Description

Temperature status Indicates if there is any temperature abnormality. Temperature status includes
normal, warning, and error.
Voltage status Indicates if there is any internal voltage abnormality. Voltage status includes normal,
warning, and error.
Motor status Indicates if there is any internal motor abnormality. Motor status includes normal,
warning, and error.
Dust warning Indicates if a significant amount of dust is detected on the optical window or if the
optical window is covered by objects.
Service life warning Indicates if the LiDAR sensor is nearing the end of its service life. The LiDAR sensor
can still work for a short period once this warning appears. It is recommended to
replace the LiDAR sensor once this warning appears.
PPS signal status Indicates whether the PPS sync signal is working normally.

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Livox Mid-70 User Manual

Working States & Working Modes

The working states of the Mid-70 includes initializing, normal, standby, power saving, and error.

Working states Description

Initializing The LiDAR sensor is powering on.

Normal The LiDAR sensor is powered on and working normally.

Standby The LiDAR sensor is powered on, but the laser beams are not active.

Power saving All components are powered off apart from the communication module.

Error The LiDAR sensor will enter error status when an error is detected and all the
components are powered off apart from the communication module.

Error

Normal Standby

Initializing

Power
saving

Figure 5.2.1 Relationship between the different working states

The Mid-70 also has three working modes: Normal, Standby, and Power Saving. These modes can be set in
Livox Viewer and the Livox SDK.

Normal Standby

Power
saving

Figure 5.3.2 Relationship between the different working modes available in Livox Viewer

Dual Return Mode

The Mid-70 can be set to Dual Return mode using Livox Viewer or the Livox SDK. The Mid-70 can
generate a point cloud of up to two returns in Dual Return mode, which has a point rate of 200,000
points per second.
To set the return mode, run Livox Viewer after the Mid-70 is connected.
Click the desired device under Device Manager. Click to select the return mode.

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 Livox Mid-70 User Manual

Livox Viewer
Livox Viewer is a computer software designed for Livox LiDAR sensors and Livox Hub. Users can check real-
time point cloud data of all the Livox LiDAR sensors connected to a computer, and also record the point cloud
data to view offline or for future application. The simple interface makes it easy to use.

Visit www.livoxtech.com to download the latest Livox Viewer. Livox Viewer supports Windows® 7/8/10 (64 bit)
and UbuntuTM 16.04 (64 bit).
• Turn off firewalls on your computer before using Livox Viewer. Otherwise, Livox Viewer may not be able
to detect the Livox LiDAR sensors. Make sure the graphics driver is correctly installed. Otherwise, Livox
Viewer may not launch or may crash.

For Windows users: unzip the Livox Viewer file and click to open the .exe file named “Livox Viewer.”
For Ubuntu users: unzip the Livox Viewer file and click to open the “./livox_viewer.sh” file under the root directory.
For more information, download the Livox Viewer User Manual from the official website www.livoxtech.com.

Software Development Kit (SDK)

Besides using Livox Viewer to check real-time point cloud data, users can also use the SDK to apply the point
cloud acquired from Livox LiDAR sensors to different scenarios.

SDK Communication Protocol

With the SDK Communication Protocol, users can learn how to customize the Livox LiDAR sensors. The SDK
Communication Protocol encompasses the following three types of data:
Control Command Data: Configuration and query of LiDAR parameters and status information.
Point Cloud Data: Point cloud data generated by LiDAR.
All data is stored in little-endian format.
Visit http://www.livoxtech.com/sdk to learn more information about SDK communication protocol, Livox SDK
API reference.

Storage, Transportation, and Maintenance

Storage
The storage temperature range for the Mid-70 is from -20° to 65° C (-4° to 149° F). Keep Mid-70 sensors in a
dry and dust-free environment.
• Make sure Mid-70 sensors are not exposed to environments containing poisonous or corrosive gases or
materials.
• DO NOT drop Mid-70 sensors and be careful when placing a LiDAR sensor in storage or taking it out of
storage.
• If a Mid-70 sensor is not to be used for more than three months, regularly check the sensors and connectors
for abnormalities.

Transportation
Before transportation, place Mid-70 sensors in a suitable box for transportation and make sure it is secure.
Make sure to place foam inside the transportation box and that the box is clean and dry.
DO NOT drop Mid-70 sensors and always be careful when carrying a LiDAR sensor.

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Livox Mid-70 User Manual

Maintenance
In normal conditions, the only maintenance required for the Mid-70 is to clean the optical window of the LiDAR
sensor. Dust and stains on the optical window can negatively affect the performance of the LiDAR sensor. Make
sure to regularly clean the optical window to prevent this from happening.
First, check the surface of the optical window to see if cleaning is necessary. If it is necessary to clean, follow
the steps below:
1. Use compressed or canned air: DO NOT wipe a dusty optical window, as it will only cause more damage.
Dust the optical window with compressed or canned air before wiping the optical window.
Note that if the optical window has no visible stains afterward, it is not necessary to wipe also.
2. Wipe the stains:
DO NOT wipe using a dry lens tissue, as it will scratch the surface of the optical window. Use the lens tissue
provided with isopropyl alcohol. Wipe slowly to remove the dirt instead of redistributing it on the surface of
the optical window.
If the optical window is still dirty, a mild soap solution can be used to gently wash the window. Repeat Step
2 to remove any remaining soap residue.

Troubleshooting
The table below shows you how to troubleshoot and resolve common issues with Mid-70 sensors. If the issue
persists, contact Livox.

Issue Resolution

Cannot detect the LiDAR • Make sure that all cables are correctly wired.
sensor • Make sure the voltage and power supply is suitable. The voltage should
be between 10 and 15 V. If a Livox Converter 2.0 is in use, the supported
voltage range of the external power source is from 9 to 30 V.
• Make sure that the LiDAR sensor is not connected to other software.
• Make sure the LAN is selected.
• Make sure no security software is installed that would block Ethernet
broadcasts.
If the issue persists, try to turn off all firewalls and search again.
Confirm the packet outputs for all connected devices using another
application (e.g., Wireshark).

Cannot connect to the • Make sure that all cables are correctly wired.
detected LiDAR sensor/ • Make sure the voltage and power supply is suitable. The voltage should
Cannot start sampling be between 10 and 15 V. If a Livox Converter 2.0 is in use, the supported
voltage range of the external power source is from 9 to 30 V. If the issue
persists, reboot the LiDAR sensor and restart the software.

No data received Confirm the packet outputs for all connected devices using another
application (e.g., Wireshark).

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 Livox Mid-70 User Manual

After-Sales Information
Visit www.livoxtech.com/support to check the after-sales policy and warranty conditions for Livox LiDAR
sensors.

Appendix
Appendix 1
Livox Mid-70 Dimensions (Unit: mm)

35.5 35.5 4-M3 5 35.5 35.5

4.0 1.3 4.0 1.5

4.0 1.5
4.0 1.3 4.0 1.3

46.0
46.0

35.5 35.5 4-M3 5 35.5 35.5

4-M3 4.8
1.0 1.0
4.0 1.3 4.0 1.5
4.0 1.5
6.0 61.0
46.0
46.0

6.0 61.0
4-M3 4.8
1.0
64.0 1.012.5°
Top View Bottom View

6.0 61.0 6.0 61.0

62.7

64.0 12.5°
32.4
15.4
62.7

21.7
15.8
32.4

18.2
97.0
15.4

21.7
15.8
18.2
97.0
Main View Left View

Unit: mm

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 Livox Mid-70 User Manual

Appendix 2
Livox Mid-70 Mounting Bracket Dimensions (Unit: mm)

4.0- 6.6

2- 4.0 -0.06
0
2-6.4 3.2
26.0 12.8 22.2
80.0

2-3.4贯穿

97.0
1/4-20UNC

36.0
14.0 4.0

11.0 14.0
8.5

4.5
85.0 4

100.0 5.7

6- 3.4
0- 6.6 6.4 3.2
9.0
+0.08
2- 4.00 2.2
2-6.4 3.2
2-3.4 Through
70.0

4.0 0
+0.08
2.2
97.0

36.0
14.0 4.0

2.0
11.0 14.0

4.5
12.0

46.0
5.7

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 Livox Mid-70 User Manual

Appendix 3
Livox Converter 2.0 Dimensions (Unit: mm)

52 22.9 37

4-M2 2.5
74

66
Top View Side View Bottom View

Specifications
Livox Mid-70

Operating Temperature Range -20° to 65° C (-4° to 149° F)

Operating Temperature Range of Shell -20° to 80° C (-4° to 176° F)

Laser Wavelength 905 nm

Laser Safety Class 1 (IEC 60825-1:2014) (safe for eyes)
90 m @ 10% reflectivity
Detection Range (@ 100 klx) 130 m @ 20% reflectivity
260 m @ 80% reflectivity
FOV 70.4° (circular)
1σ (@ 20m) ≤ 2cm
Distance Random Error
1σ (@ 0.2~1m) ≤ 3cm
Angular Random Error 1σ < 0.1°
Beam Divergence 0.28° (Vertical) × 0.03° (Horizontal)
100,000 points/s (first or strongest return)
Point Rate
200,000 points/s (dual return)
Data Latency ≤ 2 ms
IEEE 1588-2008 (PTP v2), PPS (Pulse Per Second), GPS
Data Synchronization
(PPS+UTC)
False Alarm Ratio (@ 100 klx) < 0.01%
IP Rating IP67
8 W (average)
Power
35 W (peak)
Livox Mid-70: 10-15 V DC
Power Supply Voltage Range
Livox Converter 2.0: 9-30 V DC
Dimensions 97×64×62.7 mm
Weight Approx. 580 g

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Livox Mid-70 User Manual

Livox Mid-70 Mounting Bracket

Dimensions 100×97×5.7 mm
Weight Approx. 76 g
Livox Converter 2.0
Dimensions 74×52×23 mm
Weight 88 g

24   © 2020 Livox Tech. All Rights Reserved.

© 2020 Livox Tech. All Rights Reserved.
Livox and Livox Mid are trademarks of Livox Technology Company Limited.
Windows is a registered trademark of Microsoft Corporation in United States and other countries.
Ubuntu is a registered trademark of Canonical Ltd.