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Velodyne Acoustics HDL-64E S2.1 user manual Firmware version 4.07 sheet 3

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

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aPPendix e: data PacKet forMat

HDL-64E S2 and S2.1 User’s Manual

Firmware version 4.07 (sheet 3 of 3)

Threshold

Both = 2

Strongest = 0

Last = 1

A8

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Velodyne Acoustics HDL-64E S2.1 user manual Firmware version 4.07 sheet 3

Contents

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 Box IntroductionS2.1 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 ViewerParameter Unit Description Values Establish communication with the sensorDb.xml Calibration Parameters Sample SERCMD.txt file Change Run-Time ParametersSample Batch File .bat 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 Digital Sensor Recorder DSR InstallAPPendix c diGitaL 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 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 #7657Coordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGyDual Two Point Calibration Methodology and Code Samples APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Value Corrected by Distance Code Intensity Compensation vs DistanceCalibration Window 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 resoLutionSerVice and Maintenance TrouBLeshootinGProblem Resolution SPecifications Velodyne LiDAR, Inc