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Velodyne HDL-64E S3 User Manual

Velodyne HDL-64E S3
54 pages
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USERS MANUAL AND
PROGRAMMING GUIDE
HDL-64E S3
High Definition LiDAR
Sensor

Table of Contents

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Velodyne HDL-64E S3 Specifications

General IconGeneral
Laser Count64
Field of View360° horizontal, 26.8° vertical
Accuracy±2 cm
Operating Temperature-10°C to +60°C
Frame Rate5-20 Hz
Angular Resolution (Vertical)0.4°
Laser Wavelength905 nm
Rotation Rate5-20 Hz
Ingress ProtectionIP67
Data Output RateUp to 1.3 million points per second
Angular Resolution (Horizontal)0.08°
Range120 meters (for 10% reflectivity)

Summary

Safety Notices

Important Safety Instructions

Key safety instructions and warnings for operating the sensor.

Cautionary Guidelines

Important warnings and guidelines to reduce risks and maintain warranty.

Introduction

In the Box

Lists the contents of the sensor shipment.

Principles of Operation

Installation

Mounting Options

Details on mechanical mounting and considerations.

Electrical Connections

Covers power, Ethernet, and serial interface setup.

Lockout Circuit Function

Explanation of the laser firing prevention circuit.

View Image

Included Point-cloud Viewer

Using the DSR application for live data viewing.

Custom Point-cloud Viewer Development

Steps for creating custom data visualization software.

Change Run-Time Parameters

Serial Communication Setup

Specifies communication parameters and sample files for serial commands.

Upload Calibration Data

External GPS Time Synchronization

Synchronizing sensor data with GPS time pulses.

Laser Firing Sequence and Timing

Firmware Updates

Appendix A: Mechanical Drawings

Appendix B: Connector Pin outs

Power, Serial & GPS Connector

Pin assignments for the Deutsch DT06-8S connector.

Ethernet Connector

Pin assignments for the M12 D-CODED Ethernet connector.

Appendix C: Digital Sensor Recorder (DSR)

DSR Installation and Calibration

Instructions for installing DSR and using calibration files.

DSR Live Playback

Steps for viewing live data streams using DSR.

Appendix D: MATLAB Sample Code

Appendix E: Data Packet Format

Data Packet Structure Overview

Details the sensor's UDP Ethernet packet format.

CRC Checksum Algorithm

Appendix F: Dual Two Point Calibration Methodology & Code Samples

Coordinate Calculation Algorithm

Describes the methodology and provides sample code for data calculation.

Intensity Compensation and Calibration

Calibration Window Parameters

Details focal distance and focal slope for intensity scaling.

Appendix G: Ethernet Timing Tables

Sensor Ethernet Transmit Timing

Tables showing time elapsed for data capture and transmission.

Laser and Detector Arrangement

Laser Position Views

Diagrams showing laser positions from rear and wall views.

Appendix I: Angular Resolution

Appendix J: Troubleshoot

Appendix K: Service and Maintenance

Appendix L: Specifications

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