Velodyne HDL-64E S3 User Manual

HDL-64E S3
High Definition LiDAR Sensor
Page 14
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
Control the Spin Rate
Change Spin Rate in Flash Memory
The sensor can spin at rates ranging from 0300 RPM (5 Hz) to 1200 RPM (20 Hz). The default is 0600
RPM (10 Hz). Changing the spin rate does not change the data rate -
the unit sends out the same
number of packets (at a rate of
~ 1.3 million data points per second) regardless of its spin rate. The
horizontal image resolution increases or decreases depending on rotation speed.
See the Angu l ar Reso l ution section found in Appendix I for the angular resolution values for various spin
rates.
To control the sensor’s spin rate, issue a serial command of the case sensitive format #HDLRPMnnnn$
where nnnn is an integer between 0300 and 1200. The sensor immediately adopts the new spin rate. You
don’t need to power cycle the unit, and the new RPM is retained with future power cycles.
Change Spin Rate in RAM Only
If repeated and rapid updates to the RPM are needed, such as for synchronizing multiple sensors
controlled by a closed loop application, you can adjust the sensors’ spin rates without storing the new
RPM in flash memory (this preserves flash memory over time).
To control the sensor’s spin rate in RAM only, issue a serial command of the case sensitive format
#HDLRPNnnnn$ where nnnn is an integer between 0300 and 1200. The sensor immediately unit adopts
the new spin rate. You shouldn’t power cycle the sensor as the new RPM is lost with future power cycles,
which returns to the last known RPM.
Limit Horizontal FOV Data Collected
The sensor defaults to a 360
o
surrounding view of its environment. It may be desirable to reduce this
horizontal field of view (HFOV) and, hence, the data created.
To limit the horizontal FOV, issue a serial command of the case sensitive format #HDLFOVsssnnn$
where:
. sss = starting angle in degrees; sss is an integer between 000 and 360
. nnn = ending angle in degrees; nnn is an integer between 000 and 360
The HDL unit immediately adopts the new HFOV angles without power cycling and retains the new HFOV
settings upon power cycle.
NOTE: Regardless of the FOV setting, the lasers always fire at the full 360
o
HFOV. Limiting the HFOV
only limits data transmission to the HFOV of interest.

Velodyne HDL-64E S3 Specifications

General

Brand	Velodyne
Model	HDL-64E S3
Category	Accessories
Language	English