Velodyne DIGITAL DRIVE - REV G Instrucciones de operaciones

High Definition LiDAR™ SensorHDL-64E S2and S2.1U 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 F i r m w a r e Ve r s i o n 4

U S A G E H DL-64 E S2 and S2.1 Use r’s Ma nua lThe following provides more detail on each of the above steps. 1. Establish communication with the

U S A G E H DL-64 E S2 and S2.1 Use r’s Ma nua l3. Parse the packets for rotation, block, distance and intensity data. Each sensor’s LIFO data pa

U S A G E H DL-64 E S2 and S2.1 Use r’s Ma nua lAvailable commands The following run-time commands are available with the sensor: Command Descrip

U S A G E Examples H DL-64 E S2 and S2.1 Use r’s Ma nua lControl Spin Rate Change Spin Rate in Flash Memory The sensor can spin at rates ranging

U S A G E H DL-64 E S2 and S2.1 Use r’s Ma nua lDefine Sensor Memory IP Source and DestinationAddresses The HDL-64E comes with the following defau

U S A G E H DL-64 E S2 and S2.1 Use r’s Ma nua lThe images below show the GPS adaptor box, included with the HDL-64E, and optional GPS receiver. G

S A G E U H DL-64 E S2 and S2.1 Use r’s Ma nua lPacket Format and Status Byte for GPS TimeStamping The 6 bytes at the end of the data packet rep

U S A G E H DL-64 E S2 and S2.1 Use r’s Ma nua lLasers are numbered sequentially starting with 0 for the first lower block laser to 31 for the las

U S A G E H DL-64 E S2 and S2.1 Use r’s Ma nua ’ [ 15 ]

A P P E N D I X B : W I R I N G D I A G R A M H DL-64 E S2 and S2.l Use r’s Ma nua l [ 16 ] Harting Technology Group Metal Version, St

i 1 S A F E T Y N O T I C E S I N T R O D U C T I O N In The Box P R I N C I P L E S O F O P E R A T I O N 16 A P P E N D I X B : Wiring D

z A P P E N D I X C : D I G I TA L S E N S O R R E C O R DER (DSR) H DL-64 E S2 and S2.1 Use r’s M a nu a ’Digital Sensor Recorder (DSR) DS

A P P E N D I X C : D I G I TA L S E N S O R R E C O R DER (DSR) H DL-64 E S2 and S2.1 Use r’s M a nu a ’ Record Data 1. Confirm the input of

A P P E N D I X C : D I G I TA L S E N S O R R E C O R DER (DSR) H DL-64 E S2 and S2.1 Use r’s M a nu a ’DSR Key Controls Zoom: Z = Zoom in

A P P E N D I X D : M AT L A B S A M P L E C O D E H DL-64 E S2 and S2.1 Use r’s M a nu a ’Matlab sample code to read calibration data fro

A P P E N D I X D : M AT L A B S A M P L E C O D E H DL-64 E S2 and S2.1 Use r’s M a nu a ’ % Add high and low bytes of Rotational Correct

A P P E N D I X D : M AT L A B S A M P L E C O D E H DL-64 E S2 and S2.1 Use r’s M a nu a ’Version=dec2hex(value(s—1)) Temperature=value(s

A P P E N D I X E : D ATA PA C K E T F O R M AT H DL-64 E S2 and S2.1 Use r’s Ma nua ’ Data Packet Format The sensor outputs UDP Ethernet pack

A P P E N D I X E : D ATA PA C K E T F O R M AT H DL-64 E S2 and S2.1 Use r’s Ma nua ’ Firmware version 4.07 (sheet I of 3) 47 Version 4.07 [

A P P E N D I X E : D ATA PA C K E T F O R M AT H DL-64 E S2 and S2.1 Use r’s Ma nua ’ Firmware version 4.07 (sheet 2 of 3) Reserved* Reserve

A P P E N D I X E : D ATA PA C K E T F O R M AT H DL-64 E S2 and S2.1 Use r’s Ma nua ’ Firmware version 4.07 (sheet 3 of 3) Threshold Both =

C A U T I O N — S A F E TY NOTIC E Caution To reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body. Refer se

A P P E N D I X E : D ATA PA C K E T F O R M AT H DL-64 E S2 and S2.1 Use r’s Ma nua ’ Last Six Bytes Examples Examples of the last row of 1

A P P E N D I X E : D ATA PA C K E T F O R M AT H DL-64 E S2 and S2.1 Use r’s Ma nua ’ PACKET#7652: PACKET#7653: PACKET#7654: PACKET#76

A P P E N D I X E : D ATA PA C K E T F O R M AT H DL-64 E S2 and S2.1 Use r’s Ma nua ’ PACKET#7657: (Spare) Not used PACKET#7658: (Spare)

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY H DL-64 E S2 and S2.1 Use r’s M a nu a ’Dual Two Point Calibration Methodology and Code Samples

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY H DL-64 E S2 and S2.1 Use r’s M a nu a ’ float cosRotCorrection = cal—>getCosRotCorrection()

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY H DL-64 E S2 and S2.1 Use r’s M a nu a ’Intensity Compensation vs Distance Intensity compensati

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY H DL-64 E S2 and S2.1 Use r’s M a nu a ’// Calculate corrected intensity vs distance float inte

APPENDIX G: ETHERNET TRANSIT TIMING TABLE H DL-64 E S2 and S2.1 Use r’s M a nu a ’HDL-64E Ethernet Timing Table Overview The Ethernet Timing Table

APPENDIX G: ETHERNET TRANSIT TIMING TABLE H DL-64 E S2 and S2.1 Use r’s M a nu a ’How to use this table The table represents a sensor data packet.

A P P E N D I X H : L A S E R A N D D E T E C T O R A R R A N G E M E N T H DL-64 E S2 and S2.1 Use r’s M a nu a ’[ SENSORS AS SEEN FROM THE BACK

I N T R O D U C T I O N H DL-64 E S2 and S2.1 Use r’s Ma nua lCongratulations on your purchase of a Velodyne HDL-64E S2 or S2.1 High Definition LiD

A P P E N D I X I : A N G U L A R R E S O L U T I O N H DL-64 E S2 and S2.1 Use r’s M a nu a ’Notes: These values apply equally to the upper and l

T R O U B L E S H O O T I N G H DL-64 E S2 and S2.1 Use r’s M a nu a ’Use this chart to troubleshoot common problems with the sensor. Use this cha

S P E C I F I C AT I O N S H DL-64 E S2 and S2.1 Use r’s M a nu a ’[ Sensor: • 64 lasers/detectors • 360 degree field of view (azimuth) S2: +2

VelodyneLIDAR,Inc.345 Digital Drive Morgan Hill, CA 95037 408.465.2800 voice 408.779.9227 fax 408.779.9208 service fax www.velodynelIdar.comServi

P R I N C I P L E S O F O P E R AT I O N H DL-64 E S2 and S2.1 Use r’s Ma nua lThe sensor operates, instead of a single laser firing through a rota

MountingBase Figure 2. Front and back HDL mounting illustration. [ 3 ] [25.4mm]1.00 H DL-64 E S2 and S2.1 Use r’s Ma nua lThe sensor base provides

Side Mounting MountingBase 1.00Figure 3. Side HDL mounting illustration. [203.2mm]8.00 [152.4mm]6.00 I N S TA L L AT I O N O V E R V I E W H DL-64

H DL-64 E S2 and S2.1 Use r’s Ma nua lTop Mounting I N S TA L L AT I O N O V E R V I E W Four 0.41” [10.3mm] through holes for top mount option

H DL-64 E S2 and S2.1 Use r’s Ma nua lI N S TA L L AT I O N O V E R V I E W The sensor is only compatible with network cards that have either MDI