HDL-64E S2 manual_Rev A - Velodyne Lidar

HDL-64E S2 Ethernet Transmit Timing Table
Data Laser
Laser Numbers Lower, Upper
Block Block 0,32 1,33 2,34 3,35 4,36 5,37 6,38 7,39 8,40 9,41 10,42 11,43 12,44 13,45 14,46 15,47 16,48
1 Upper 419.3 418.6 417.8 417.1 416.4 415.7 414.9 414.2 413.5 412.7 412.0 411.3 410.6 409.8 409.1 408.4 407.7
2 Lower 419.3 418.6 417.8 417.1 416.4 415.7 414.9 414.2 413.5 412.7 412.0 411.3 410.6 409.8 409.1 408.4 407.7
3 Upper 396.0 395.3 394.5 393.8 393.1 392.4 391.6 390.9 390.2 389.5 388.7 388.0 387.3 386.5 385.8 385.1 384.4
4 Lower 396.0 395.3 394.5 393.8 393.1 392.4 391.6 390.9 390.2 389.5 388.7 388.0 387.3 386.5 385.8 385.1 384.4
5 Upper 372.7 372.0 371.3 370.5 369.8 369.1 368.3 367.6 366.9 366.2 365.4 364.7 364.0 363.2 362.5 361.8 361.1
6 Lower 372.7 372.0 371.3 370.5 369.8 369.1 368.3 367.6 366.9 366.2 365.4 364.7 364.0 363.2 362.5 361.8 361.1
7 Upper 349.4 348.7 348.0 347.2 346.5 345.8 345.0 344.3 343.6 342.9 342.1 341.4 340.7 339.9 339.2 338.5 337.8
8 Lower 349.4 348.7 348.0 347.2 346.5 345.8 345.0 344.3 343.6 342.9 342.1 341.4 340.7 339.9 339.2 338.5 337.8
9 Upper 326.1 325.4 324.7 323.9 323.2 322.5 321.7 321.0 320.3 319.6 318.8 318.1 317.4 316.7 315.9 315.2 314.5
10 Lower 326.1 325.4 324.7 323.9 323.2 322.5 321.7 321.0 320.3 319.6 318.8 318.1 317.4 316.7 315.9 315.2 314.5
11 Upper 302.8 302.1 301.4 300.6 299.9 299.2 298.5 297.7 297.0 296.3 295.5 294.8 294.1 293.4 292.6 291.9 291.2
12 Lower 302.8 302.1 301.4 300.6 299.9 299.2 298.5 297.7 297.0 296.3 295.5 294.8 294.1 293.4 292.6 291.9 291.2
Data Laser
Block Block
1 Upper
2 Lower
3 Upper
4 Lower
5 Upper
6 Lower
7 Upper
8 Lower
9 Upper
10 Lower
11 Upper
12 Lower
17,49
406.9
406.9
383.6
383.6
360.3
360.3
337.0
337.0
313.7
313.7
290.4
290.4
Laser Numbers Lower, Upper
18,50 19,51 20,52 21,53 22,54 23,55 24,56 25,57 26,58 27,59 28,60 29,61 30,62 31,63
406.2 405.5 404.7 404.0 403.3 402.6 401.8 401.1 400.4 399.6 398.9 398.2 397.5 396.7
406.2 405.5 404.7 404.0 403.3 402.6 401.8 401.1 400.4 399.6 398.9 398.2 397.5 396.7
382.9 382.2 381.4 380.7 380.0 379.3 378.5 377.8 377.1 376.3 375.6 374.9 374.2 373.4
382.9 382.2 381.4 380.7 380.0 379.3 378.5 377.8 377.1 376.3 375.6 374.9 374.2 373.4
359.6 358.9 358.1 357.4 356.7 356.0 355.2 354.5 353.8 353.1 352.3 351.6 350.9 350.1
359.6 358.9 358.1 357.4 356.7 356.0 355.2 354.5 353.8 353.1 352.3 351.6 350.9 350.1
336.3 335.6 334.9 334.1 333.4 332.7 331.9 331.2 330.5 329.8 329.0 328.3 327.6 326.8
336.3 335.6 334.9 334.1 333.4 332.7 331.9 331.2 330.5 329.8 329.0 328.3 327.6 326.8
313.0 312.3 311.6 310.8 310.1 309.4 308.6 307.9 307.2 306.5 305.7 305.0 304.3 303.5
313.0 312.3 311.6 310.8 310.1 309.4 308.6 307.9 307.2 306.5 305.7 305.0 304.3 303.5
289.7 289.0 288.3 287.5 286.8 286.1 285.3 284.6 283.9 283.2 282.4 281.7 281.0 280.3
289.7 289.0 288.3 287.5 286.8 286.1 285.3 284.6 283.9 283.2 282.4 281.7 281.0 280.3
First Trans Trigger to Ethernet Trans Enable 419.3 us
Ethernet Output Duration 100 us
Total Packet Bytes 1248
Header Bytes 42
Data Bytes 1200
Footer Bytes 6
Byte per microsecond 12.48
Microseconds per Byte 0.080128
How to use this table
The table above represents an HDL-64E S2 data packet. The laser returns will come out in the order listed above.
Simply subtract from the timestamp of the output event of the packet each data value to arrive at the actual time the distance point was captured inside the HDL-64E S2.
.w ww.velodyne.com/lidar HDL-64E S2 User’s Manual
19