Velodyne Acoustics HDL-64E S2.1 user manual HDL-64E S2 and S2.1, E R ’ S M a N U a L a N D

E R ’ S M a N U a L a N D HDL-64E S2 and S2.1Box Front/Back Mounting Side Mounting Top Mounting WiringReading Calibration and Sensor Parameter Data Last Six Bytes ExamplesPage S2.1 IntroductionBox HDL-64E S2 design overview PrinciPLes of oPerationFront/Back Mounting InstaLLation oVerVieWSide HDL mounting illustration Side MountingTop HDL mounting illustration Top MountingUsaGe WiringUse the Included Point-cloud Viewer Develop Your Own Application-specific Point-cloud ViewerDb.xml Calibration Parameters Establish communication with the sensorParameter Unit Description Values Sample Batch File .bat Change Run-Time ParametersSample SERCMD.txt file Command Description Parameters Available commandsLimit Horizontal FOV Data Collected Control Spin RateDestination Define Sensor Memory IP Source and Destination AddressesUpload Calibration Data External GPS Time SynchronizationGPS Equipment Time Stamping Accuracy Rules Packet Format and Status Byte for GPS Time StampingGPS Connection Timestamp Info Accuracy Laser Firing Sequence and TimingHDL software update screen capture FirMWare uPdateAPPendix a MechanicaL draWinGs Isometric ViewAPPendix B WirinG diaGraM APPendix c diGitaL sensor recorder dsr InstallDigital Sensor Recorder DSR Click the Record button APPendix c diGitaL sensor recorder dsrAxis Rotation ZoomShift RotationalAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling Data Packet Format APPendix e data PacKet forMatFirmware version 4.07 sheet 1 Firmware version 4.07 sheet 2 Firmware version 4.07 sheet 3 Last Six Bytes Examples 40 = Ver Packet #7658 Packet #7657Dual Two Point Calibration Methodology and Code Samples APPendix f duaL tWo Point caLiBration MethodoLoGyCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Calibration Window Intensity Compensation vs DistanceIntensity Value Corrected by Distance Code APPendix f duaL tWo Point caLiBration MethodoLoGy HDL-64E Ethernet Timing Table Overview APPendix G ethernet transit tiMinG taBLeLaser Numbers 0-7 & 32-39 Lower,Upper How to use this table The table represents a sensorAPPendix h Laser and detector arranGeMent RPM RPS APPendix i anGuLar resoLutionProblem Resolution TrouBLeshootinGSerVice and Maintenance SPecifications Velodyne LiDAR, Inc