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Velodyne VLP-16 - User Manual

Velodyne VLP-16
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VLP-16 User Manual
63-9243 Rev. D

Table of Contents

Questions and Answers

  • J
    Jeremy RhodesJul 27, 2025
    What to do if Velodyne Accessories unit spins but no data?
    • A
      andrew08Jul 27, 2025
      If the Velodyne Accessories unit spins but you're not getting any data, verify the following: * The Ethernet wiring is functional. * Packet output using another application (e.g., VeloView/Wireshark). * The receiving computer's network settings. * The correct static IP address in your computer's network settings. * That no security software is installed that may block Ethernet broadcasts. * The 'Laser ON' radio button is selected in the Web Interface Configuration Screen. * The input voltage and current draw are in proper ranges.
  • T
    Tracy DawsonAug 1, 2025
    Why am I experiencing data dropouts with my Velodyne VLP-16?
    • B
      bradleycindyAug 1, 2025
      If you are experiencing data dropouts with your Velodyne Accessories, it's likely a network or computer issue. Consider the following: * Check if the sensor’s horizontal field of view is set to less than 360°. * Determine if there's excessive traffic or collisions on the network. * See if a network device is throttling back traffic; wireless access points often do this. * Check for excessive broadcast packets from another service, as this can slow the sensor down. * Ensure your computer is fast enough to handle the packet flow from the sensor. To isolate the problem, remove all network devices and test with a computer directly connected to the sensor.
  • L
    Lucas FoxAug 6, 2025
    What to do if I can see data in Wireshark but not VeloView with Velodyne Accessories?
    • K
      Kathryn JacksonAug 6, 2025
      If you can see data in Wireshark but not VeloView for your Velodyne Accessories, check the following: * Ensure no firewall is active on the receiving computer. * Verify the sensor's destination address. * Confirm that port numbers are set to 2368 (data) and 8308 (position/telemetry). Wireshark sniffs packets promiscuously, but VeloView needs permission to receive packets from the system firewall, if active.
  • M
    marcia54Aug 11, 2025
    How to troubleshoot Velodyne Accessories Interface Box LEDs not lighting?
    • A
      Alexa LynchAug 11, 2025
      If the Interface Box LEDs on your Velodyne Accessories aren't lighting up, verify the following: * Power connection and polarity. * Proper voltage (between 9 V and 18 V, drawing a maximum of 0.9 A during normal operation). * The fuse in the Interface Box is okay. If it’s blown, see Fuse Replacement.
  • J
    jasminefarrellAug 16, 2025
    What to check if Velodyne Accessories rotor doesn’t spin?
    • S
      Sabrina GonzalezAug 16, 2025
      If the rotor on your Velodyne Accessories isn't spinning, verify the following: * Power connection and polarity. * Proper voltage (between 9 V and 18 V, drawing a maximum of 0.9 A during normal operation). * The fuse in the Interface Box is okay. If it’s blown, see Fuse Replacement.
  • E
    Ethan GarciaAug 21, 2025
    Why is GPS not synchronizing with my Velodyne VLP-16 Accessories?
    • B
      Brandon LawrenceAug 21, 2025
      To troubleshoot GPS synchronization issues with your Velodyne Accessories, check the following: * Baud rate is set to 9600 and serial port is set to 8N1 (8 bits, no parity, 1 stop bit). * Electrical continuity of PPS and serial wiring. * Incorrect construction of NMEA sentence. * Incorrect signal levels: “High” voltage must be greater than 3.0 V and less than 15.0 V. “Low” voltage must be less than 1.2 V. * Serial line not sourcing enough current: The GPS/INS unit must be able to source at least 2 mA in the “high” voltage state. * The polarity of the serial and PPS signals. Also, the GPS signal may be obscured indoors or near obstructions. Bring the receiver outside for best signal reception.

Summary

VLP-16 Overview

Overview

Introduces the VLP-16 sensor, its 16 IR lasers, detectors, and rapid spinning mechanism for 3D data.

Safety Precautions

Electrical Safety

Details electrical safety requirements for powering the VLP-16 sensor.

Mechanical Safety

Highlights mechanical safety concerns, such as the spinning assembly and user-serviceable parts.

Laser Safety

Unboxing & Verification

Verification Procedure

Outlines the steps to verify the sensor's basic functionality before integration.

Network Setup in Isolation

Access Sensor’s Web Interface

Visualize Live Sensor Data with VeloView

VeloView Operation

Installation & Integration

Mounting

Details the sensor's mounting hole and recommendations for secure mounting to withstand vibration and shock.

Power

Key Features

Laser Return Modes

Describes the three supported laser return modes: Strongest, Last, and Dual.

Dual Return Mode

Phase Locking Multiple Sensors

Sensor Inputs

Ethernet Interface

GPS, Pulse Per Second (PPS) and NMEA GPRMC Message

Sensor Operation

Rotation Speed (RPM)

Sensor Data

Calculating X,Y,Z Coordinates from Collected Spherical Data

Explains the computation needed to convert spherical data to Cartesian coordinates.

Time Stamp

Discreet Point Timing Calculation

Precision Azimuth Calculation

Converting PCAP Files to Point Cloud Formats

Sensor Communication

Web Interface

Configuration Screen

System Screen

Sensor Control with curl

Command Line curl Examples

Set Return Type (Strongest, Last, Dual)

Network Configuration

Troubleshooting

Troubleshooting Process

Provides a table of common problems and their resolutions, including LED status and data output.

Turned DHCP On, Lost Contact With Sensor

Fuse Replacement

Technical Support

Firmware Update

Firmware Update Procedure

Outlines the steps to update the sensor's firmware using the Web Interface.

Special Procedure to Update Firmware

If An Error Occurs

VeloView

Features

Install VeloView

Visualize Streaming Sensor Data

Capture Streaming Sensor Data to PCAP File

Replay Captured Sensor Data from PCAP File

Laser Pulse

Time Synchronization

PPS Qualifier

Phase Lock

Phase Lock

Explains Phase Lock feature for minimizing interference by controlling data gathering.

Setting the Phase Lock

Details how to enable Phase Lock by entering the desired phase offset in degrees.

Application Scenarios

Sensor Care

Cleaning the Sensor

Network Configuration

Ethernet and Network Setup

Establishing Communication via Ethernet

Multiple Sensors Transmitting to a Specific Address

Velodyne VLP-16 Specifications

General IconGeneral
Number of Channels16
Field of View - Vertical30°
Field of View - Horizontal360°
Vertical Resolution2°
Horizontal Resolution0.1° to 0.4°
Rotation Rate5 Hz to 20 Hz
Laser Wavelength903 nm
Operating Temperature-10°C to +60°C
Ingress ProtectionIP67
Laser ClassClass 1 Eye Safe
RangeUp to 100 m
Accuracy+/- 3 cm
Power Consumption8 W
Operating Voltage9-32 VDC
Weight830 g
Dimensions103 mm x 72 mm

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