Velodyne HD HDL-64E S2.1 Betriebsanleitung

U S E R ’ S M A N U A L A N D P R O G R A M M I N G G U I D E F i r m w a r e Ve r s i o n 4 . 0 7 HDL-64E S2 and S2.1 High

[ 7 ] U S A G E HDL-64E S2 and S2.1 User’s Manual The following provides more detail on each of the above steps. 1. Establish communication w

[ 8 ] U S A G E HDL-64E S2 and S2.1 User’s Manual 3. Parse the packets for rotation, block, distance and intensity data. Each sensor’s LIFO d

[ 9 ] U S A G E HDL-64E S2 and S2.1 User’s Manual Available commands The following run-time commands are available with the sensor: Command

U S A G E [ 10 ] HDL-64E S2 and S2.1 User’s Manual Control Spin Rate Change Spin Rate in Flash Memory The sensor can spin at rates ranging fr

[ 11 ] U S A G E HDL-64E S2 and S2.1 User’s Manual Define Sensor Memory IP Source and Destination Addresses The HDL-64E comes with the followi

U S A G E HDL-64E S2 and S2.1 User ’s Manual The images below show the GPS adaptor box, included with the HDL-64E, and optional GPS receiver.

U S A G E HDL-64E S2 and S2.1 User’s Manual[ 13 ] Packet Format and Status Byte for GPS Time Stamping The 6 bytes at the end of the data p

U S A G E HDL-64E S2 and S2.1 User’s Manual Lasers are numbered sequentially starting with 0 for the first lower block laser to 31 for the l

U S A G E HDL-64E S2 and S2.1 User’s Manual[ 15 ]

A P P E N D I X B : W I R I N G D I A G R A M HDL-64E S2 and S2.1 User’s ManuaI Harting Technology Group Metal Version, Standard S

i S A F E T Y N O T I C E S 1 I N T R O D U C T I O N In The Box 2 P R I N C I P L E S O F O P E R A T I O N 3 I N S T A L L A T I O N

A P P E N D[ 17 ] I XC : D I G I TA L S E N S O R R E C O R DER (DSR) HDL-64E S2 and S2.I User’s Manual Digital Sensor Recorder (DSR) Di

A P P E N D[ 18 ] I XC : D I G I TA L S E N S O R R E C O R DER (DSR) HDL-64E S2 and S2.I User’s Manual Record Data 1. Confirm the input o

A P P E N D[ 19 ] I XC : D I G I TA L S E N S O R R E C O R DER (DSR) HDL-64E S2 and S2.I User’s Manual DSR Key Controls Zoom: Z = Zoom i

A P P E N D I X D : M AT L A B S A M P L E C O D E HDL-64E S2 and S2.I User’s Manual[ 20 ] Matlab sample code to read calibration data from

A P P E N D I XD : M AT L A B S A M P L E C O D E HDL-64E S2 and S2.I User’s Manual % Add high and low bytes of Rotational Correct

A P P E N D I X D : M AT L A B S A M P L E C O D E HDL-64E S2 and S2.I User’s Manual[ 22 ] Version=dec2hex(value(s-1)) .emperature=value(s

[ 23 ] A P P E N D I X E : D ATA PA C K E T F O R M AT HDL-64E S2 and S2.1 User’s Manual Data Packet Format The sensor outputs UDP Ethern

A P P E N D[ 24 ] I X E : D ATA PA C K E T F O R M AT HDL-64E S2 and S2.1 User’s Manual Firmware version 4.07 (sheet I of 3)

[ 25 ] A P P E N D I X E : D ATA PA C K E T F O R M AT HDL-64E S2 and S2.1 User’s Manual Firmware version 4.07 (sheet 2 of 3)

[ 26 ] A P P E N D I X E : D ATA PA C K E T F O R M AT HDL-64E S2 and S2.1 User’s Manual Firmware version 4.07 (sheet 3 of 3)

C A U T I O N — S A F E T Y NOTIC E [ i ] Caution To reduce the risk of electric shock and to avoid violating the warranty, do not open sen

[ 27 ] A P P E N D I X E : D ATA PA C K E T F O R M AT HDL-64E S2 and S2.1 User’s Manual Last Six Bytes Examples Examples of the last ro

[ 28 ] A P P E N D I X E : D ATA PA C K E T F O R M AT HDL-64E S2 and S2.1 User’s Manual PACKET #7652: PACKET #7653:

A P P E N D I X E : D ATA PA C K E T F O R M AT [ 29 ] HDL-64E S2 and S2.1 User’s Manual PACKET #7657: Not used (Spare) PACKET #

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY HDL-64E S2 and S2.I User’s Manual Dual Two Point Calibration Methodology and Code Samples

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY HDL-64E S2 and S2.I User’s Manual float cosRotCorrection = cal->getCosRotCorrectio

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY HDL-64E S2 and S2.I User’s Manual Intensity Compensation vs Distance Intensity compensation

APPENDIX F: DUAL TWO POINT CALIBRATION METHODOLOGY HDL-64E S2 and S2.I User’s Manual[ 33 ] II Calculate corrected intensity vs distance floa

[ 34 ] APPENDIX G: ETHERNET TRANSIT TIMING TABLE HDL-64E S2 and S2.I User’s Manual HDL-64E Ethernet Timing Table Overview The Ethernet Timin

[ 35 ]

A P P E N D I X H : L A S E R A N D D E T E C T O R A R R A N G E M E N T HDL-64 E S2 and S2.I User’s Manual SENSOR AS SEEN FROM THE BACK O

I N T R O D U C T I O N HDL-64E S2 and S2.1 User’s Manual[ 1 ] Congratulations on your purchase of a Velodyne HDL-64E S2 or S2.1 High Definiti

[ 37 ] A P P E N D I XI : A N G U L A R R E S O L U T I O N HDL-64E S2 and S2.I User’s Manual RPM RPS (Hz) Total Laser Points per Revol

T R O U B L E S H O O T[ 38 ] I N G HDL-64E S2 and S2.I User’s Manual Use this chart to troubleshoot common problems with the sensor. Use this

[ 39 ] S P E C I F I C AT I O N S HDL-64E S2 and S2.I User’s Manual Sensor: • 64 lasers/detectors • 360 degree field of view (azimuth) • 0.

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P R I N C I P L E S O F O P E R AT I O N HDL-64E S2 and S2.1 User’ [ 2 ] s ManuaI The sensor operates, instead of a single laser firing throug

[ 3 ] I N S TA L L AT I O N O V E R V I E W HDL-64E S2 and S2.1 User’s Manual The sensor base provides the following mounting options: • Fr

I N S[ 4 ] TA L L AT I O N O V E R V I E W HDL-64E S2 and S2.1 User’s Manual Side Mounting Mounting Base

I N S TA L L AT I O N O V E R V I E W HDL-64E[ 5 ] S2 and S2.1 User’s Manual Top Mounting Four 0.41” [10.3mm] through holes

I N S[ 6 ] TA L L AT I O N O V E R V I E W HDL-64E S2 and S2.1 User’s Manual Wiring The sensor comes with a pre-wired connector, wired with