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SAFETY NOTICES
INTRODUCTION
In The Box
PRINCIPLES OF OPERATION
INSTALLATION OVERVIEW
Front/Back Mounting
Side Mounting
Top Mounting
Wiring
USAGE
Use the Included Point-cloud Viewer
Develop Your Own Application-specific
Point-cloud Viewer
db.xml Calibration Parameters
Change Run-Time Parameters
Control Spin Rate
— Change Spin Rate in Flash Memory
— Change Spin Rate in RAM Only
Limit Horizontal FOV data Collected
Define Sensor Memory IP Source
and Destination Addresses
Upload Calibration Data
External GPS Time Synchronization
— GPS Receiver Option 1:
Velodyne Supplied GPS Receiver
— GPS Receiver Option 2:
Customer Supplied GPS Receiver
Packet Format and Status Byte
for GPS Time Stamping
Time Stamping Accuracy Rules
Laser Firing Sequence and Timing
FIRMWARE UPDATE
AP P E N D I X A : Mechanical Drawings
AP P E N D I X B: Wiring Diagram
AP P E N D I X C: Digital Sensor Recorder (DSR)
Install
Calibrate
Live Playback
Record Data
Playback of Recorded Files
DSR Key Controls
DSR Mouse Controls
AP P E N D I X D: Matlab Sample Code
Reading Calibration and Sensor Parameter Data
AP P E N D I X E: Data Packet Format
Last Six Bytes Examples
AP P E N D I X F: Dual Two Point Calibration Methodology
AP P E N D I X G: Ethernet Transmit Timing Table
AP P E N D I X H: Laser and Detector Arrangement
AP P E N D I X I: Angular Resolution
TROUBLESHOOTING
SERVICE AND MAINTENANCE
SPECIFICATIONS
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