Velodyne HDL-64E S3 - Default Chapter; Table of Contents

HDL-64E S3
High Definition LiDAR Sensor
Page 2
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
Table of Contents
Safety Notices ....................................................................................................................... 4
Caution ...................................................................................................................................... 4
Introduction .......................................................................................................................... 5
In the Box................................................................................................................................... 5
Principles of Operation .......................................................................................................... 6
Installation ............................................................................................................................ 8
Mounting .................................................................................................................................... 8
Wiring ........................................................................................................................................ 8
Power ..................................................................................................................................... 8
Lockout Circuit ........................................................................................................................ 8
Ethernet .................................................................................................................................. 8
Serial Interface RS-232........................................................................................................... 8
View Image ........................................................................................................................... 9
1. Use the Included Point-cloud Viewer...................................................................................... 9
2. Develop Your Own Application-Specific Point-Cloud Viewer ................................................... 9
Change Run-Time Parameters.............................................................................................. 12
Sample Batch File (.bat)............................................................................................................12
Sample SERCMD.txt file ...........................................................................................................12
Available Serial Commands HDL-64E S3 .................................................................................13
Control the Spin Rate................................................................................................................14
Change Spin Rate in Flash Memory ......................................................................................14
Change Spin Rate in RAM Only.............................................................................................14
Limit Horizontal FOV Data Collected .........................................................................................14
Define Sensor Memory IP Source and Destination Addresses ..................................................15
Dual Returns .............................................................................................................................15
Laser Output Power Level Management and Reporting ............................................................17
Noise Level Adjustment ............................................................................................................17
Upload Calibration Data ............................................................................................................18
External GPS Time Synchronization .........................................................................................18
Packet Format and Status Byte for GPS Time Stamping .......................................................19
Timestamp Accuracy Rules and Accuracy .............................................................................19
Laser Firing Sequence and Timing............................................................................................20
Firmware Updates ............................................................................................................... 21
Appendix A: Mechanical Drawings ...................................................................................... 22
Appendix B: Connector Pin outs .......................................................................................... 25
Power, Serial & GPS Connector ...............................................................................................25
Ethernet Connector ...................................................................................................................25
Appendix C: Digital Sensor Recorder (DSR) .......................................................................... 26
Install DSR ................................................................................................................................26
Calibrate DSR ...........................................................................................................................26
Live Playback............................................................................................................................26
Record Data..............................................................................................................................27
Playback Recorded Files ..........................................................................................................27
DSR Key Controls .....................................................................................................................28