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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
I N S T A L L A T I O N O V E R V I E W
Front/Back Mounting
Side Mounting
Top Mounting
Wiring
U S A G E
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
F I R M W A R E U P D A T E
A P P E N D I X A : Mechanical Drawings
A P P E N D I X B : Wiring Diagram
A P 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
A P P E N D I X D : Matlab Sample Code
Reading Calibration and Sensor Parameter Data
A P P E N D I X E : Data Packet Format
Last Six Bytes Examples
A P P E N D I X F : Dual Two Point Calibration Methodology
A P P E N D I X G : Ethernet Transmit Timing Table
A P P E N D I X H : Laser and Detector Arrangement
A P P E N D I X I : Angular Resolution
T R O U B L E S H O O T I N G
S E R V I C E A N D M A I N T E N A N C E
S P E C I F I C A T I O N S
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