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Velodyne Acoustics HDL-64E S2.1 user manual GPS Equipment

Models: HDL-64E S2 HDL-64E S2.1

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usaGe	HDL-64E S2 and S2.1 User’s Manual

The images below show the GPS adaptor box, included with the HDL-64E, and optional GPS receiver.

	GPS EQUIPMENT
				GPS Receiver
	GPS Adaptor Box			Model No.
	GPS Adaptor Box			HDL-64-GPS
	Model No.			HDL-64-GPS
	Model No.			(Optional)
	HDL-64-ADAPT			(Optional)
	HDL-64-ADAPT
	(Included)
	GPS Adaptor Box Front & Back View
		#	COLOR	SIGNAL NAME
		1	Red	+12V DC Power
	DB-9 F	2	Black	Power Ground
	Connect to Host	2	Black	Power Ground
	Connect to Host
	Computer Serial Port	3	Yellow	1 PPS (positive edge only)
		4	Red	Vin (+5V)
		5	Black	Ground
		6	White	Transmit Data
		7	Brown	Ground (Drain Wire)
		8	Green	Receive Data
	DB-9 M
	Connect to Interface
	Cable from
	HDL-64E Unit

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Velodyne Acoustics HDL-64E S2.1 user manual GPS Equipment

Contents

E R ’ S M a N U a L a N D HDL-64E S2 and S2.1Last Six Bytes Examples Front/Back Mounting Side Mounting Top Mounting WiringBox Reading Calibration and Sensor Parameter DataPage Introduction S2.1Box HDL-64E S2 design overview PrinciPLes of oPerationFront/Back Mounting InstaLLation oVerVieWSide HDL mounting illustration Side MountingTop HDL mounting illustration Top MountingDevelop Your Own Application-specific Point-cloud Viewer WiringUsaGe Use the Included Point-cloud ViewerEstablish communication with the sensor Db.xml Calibration ParametersParameter Unit Description Values Change Run-Time Parameters Sample Batch File .batSample SERCMD.txt file Command Description Parameters Available commandsLimit Horizontal FOV Data Collected Control Spin RateExternal GPS Time Synchronization Define Sensor Memory IP Source and Destination AddressesDestination Upload Calibration DataGPS Equipment Laser Firing Sequence and Timing Packet Format and Status Byte for GPS Time StampingTime Stamping Accuracy Rules GPS Connection Timestamp Info AccuracyHDL software update screen capture FirMWare uPdateAPPendix a MechanicaL draWinGs Isometric ViewAPPendix B WirinG diaGraM Install APPendix c diGitaL sensor recorder dsrDigital Sensor Recorder DSR Click the Record button APPendix c diGitaL sensor recorder dsrRotational ZoomAxis Rotation ShiftAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling Reading Calibration and Sensor Parameter DataData 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 #7657APPendix f duaL tWo Point caLiBration MethodoLoGy Dual Two Point Calibration Methodology and Code SamplesCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Compensation vs Distance Calibration WindowIntensity 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 resoLutionTrouBLeshootinG Problem ResolutionSerVice and Maintenance SPecifications Velodyne LiDAR, Inc