Velodyne Acoustics HDL-32E user manual

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caution — safety notice

Caution

To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body. Refer servicing to qualified service personnel.

The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulated “dangerous voltage” within the product’s enclosure that may be of sufficient magnitude to constitute a risk of electric shock to persons.

The exclamation point symbol is intended to alert the user to the presence of important operating and maintenance (servicing) instructions in the literature accompanying the product.

1.Read Instructions — All safety and operating instructions should be read before the product is operated.

2.Retain Instructions — The safety and operating instructions should be retained for future reference.

3.Heed Warnings — All warnings on the product and in the operating instructions should be adhered to.

4.Follow Instructions — All operating and use instructions should be followed.

5.Servicing — The user should not attempt to service the product beyond what is described in the operating instructions. All other servicing should be referred to Velodyne.

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Contents E R ’ S M a N U a L a N D HDL-32ECalibration and Orientation Digital Sensor Recorder DSRHDL-32E Sample Data Packets Coordinate Calculation Algorithm Sample CodePage Introduction Principles of Operation PrinciPLes of oPerationSetuP Case ContentsMount Base Weather Connect Power and ComputerWiring OperateUsaGe HDL-32 MAC ID and IP address format Mac IDIP Address UsaGe External GPS Time Synchronization GPS Receiver Option 1 Velodyne Supplied GPS ReceiverGPS Receiver Option 2 Customer’s GPS Receiver Images below show the GPS receiver included with the HDL-32E Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy RulesLaser Timing Laser Firing Sequence Firing orderVertical angle TrouBLesHootinG Problem ResolutionSerVice and Maintenance SPecifications Live Playback InstallAPPendix a diGitaL sensor recorder dsr CalibratePlayback of Recorded files APPendix aRotational ZoomAxis Rotation ShiftData Packet Format APPendix B HdL-32e saMPLe data PacKetsAPPendix B Figure B2 Positioning PacketFigure B3 Nmea Sentence Time StampEthernet Packet Example APPendix c coordinate caLcuLation aLGoritHM saMPLe code Distance Calibration APPendix d caLiBration and orientationCalibration and Orientation Laser Spot SizeAPPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc