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
Troubleshooting
Specs
Install
APPendix B WirinG diaGraM
Wiring
Available commands
Resolution
FirMWare uPdate
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U S E R ’ S M A N U A L A N D
P R O G R A M M I N G G U I D E
Firmware Version 4 . 07
HDL-64E
S2 and S2.1
High Definition LiDAR
™
Sensor
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Contents
E R ’ S M a N U a L a N D
HDL-64E S2 and S2.1
Box
Front/Back Mounting Side Mounting Top Mounting Wiring
Reading Calibration and Sensor Parameter Data
Last Six Bytes Examples
Page
S2.1
Introduction
Box
HDL-64E S2 design overview
PrinciPLes of oPeration
Front/Back Mounting
InstaLLation oVerVieW
Side HDL mounting illustration
Side Mounting
Top HDL mounting illustration
Top Mounting
UsaGe
Wiring
Use the Included Point-cloud Viewer
Develop Your Own Application-specific Point-cloud Viewer
Db.xml Calibration Parameters
Establish communication with the sensor
Parameter Unit Description Values
Sample Batch File .bat
Change Run-Time Parameters
Sample SERCMD.txt file
Command Description Parameters
Available commands
Limit Horizontal FOV Data Collected
Control Spin Rate
Destination
Define Sensor Memory IP Source and Destination Addresses
Upload Calibration Data
External GPS Time Synchronization
GPS Equipment
Time Stamping Accuracy Rules
Packet Format and Status Byte for GPS Time Stamping
GPS Connection Timestamp Info Accuracy
Laser Firing Sequence and Timing
HDL software update screen capture
FirMWare uPdate
APPendix a MechanicaL draWinGs
Isometric View
APPendix B WirinG diaGraM
APPendix c diGitaL sensor recorder dsr
Install
Digital Sensor Recorder DSR
Click the Record button
APPendix c diGitaL sensor recorder dsr
Axis Rotation
Zoom
Shift
Rotational
APPendix d MatLaB saMPLe code
APPendix d MatLaB saMPLe code
Status Type Ascii Value Interpretation and Scaling
Data Packet Format
APPendix e data PacKet forMat
Firmware 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 #7657
Dual Two Point Calibration Methodology and Code Samples
APPendix f duaL tWo Point caLiBration MethodoLoGy
Coordinate Calculation Algorithm Sample Code
APPendix f duaL tWo Point caLiBration MethodoLoGy
Calibration Window
Intensity Compensation vs Distance
Intensity Value Corrected by Distance Code
APPendix f duaL tWo Point caLiBration MethodoLoGy
HDL-64E Ethernet Timing Table Overview
APPendix G ethernet transit tiMinG taBLe
Laser Numbers 0-7 & 32-39 Lower,Upper
How to use this table The table represents a sensor
APPendix h Laser and detector arranGeMent
RPM RPS
APPendix i anGuLar resoLution
Problem Resolution
TrouBLeshootinG
SerVice and Maintenance
SPecifications
Velodyne LiDAR, Inc
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