HDL-64E S2 manual_Rev B_web.pdf - Velodyne Lidar

HDL-64E S2 Ethernet Transmit Timing TableData LaserLaser Numbers Lower, UpperBlock 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 16,481 Upper 419.3 418.6 417.8 417.1 416.4 415.7 414.9 414.2 413.5 412.7 412.0 411.3 410.6 409.8 409.1 408.4 407.72 Lower 419.3 418.6 417.8 417.1 416.4 415.7 414.9 414.2 413.5 412.7 412.0 411.3 410.6 409.8 409.1 408.4 407.73 Upper 396.0 395.3 394.5 393.8 393.1 392.4 391.6 390.9 390.2 389.5 388.7 388.0 387.3 386.5 385.8 385.1 384.44 Lower 396.0 395.3 394.5 393.8 393.1 392.4 391.6 390.9 390.2 389.5 388.7 388.0 387.3 386.5 385.8 385.1 384.45 Upper 372.7 372.0 371.3 370.5 369.8 369.1 368.3 367.6 366.9 366.2 365.4 364.7 364.0 363.2 362.5 361.8 361.16 Lower 372.7 372.0 371.3 370.5 369.8 369.1 368.3 367.6 366.9 366.2 365.4 364.7 364.0 363.2 362.5 361.8 361.17 Upper 349.4 348.7 348.0 347.2 346.5 345.8 345.0 344.3 343.6 342.9 342.1 341.4 340.7 339.9 339.2 338.5 337.88 Lower 349.4 348.7 348.0 347.2 346.5 345.8 345.0 344.3 343.6 342.9 342.1 341.4 340.7 339.9 339.2 338.5 337.89 Upper 326.1 325.4 324.7 323.9 323.2 322.5 321.7 321.0 320.3 319.6 318.8 318.1 317.4 316.7 315.9 315.2 314.510 Lower 326.1 325.4 324.7 323.9 323.2 322.5 321.7 321.0 320.3 319.6 318.8 318.1 317.4 316.7 315.9 315.2 314.511 Upper 302.8 302.1 301.4 300.6 299.9 299.2 298.5 297.7 297.0 296.3 295.5 294.8 294.1 293.4 292.6 291.9 291.212 Lower 302.8 302.1 301.4 300.6 299.9 299.2 298.5 297.7 297.0 296.3 295.5 294.8 294.1 293.4 292.6 291.9 291.2Table continued below . . .Data LaserBlock Block1 Upper2 Lower3 Upper4 Lower5 Upper6 Lower7 Upper8 Lower9 Upper10 Lower11 Upper12 Lower17,49406.9406.9383.6383.6360.3360.3337.0337.0313.7313.7290.4290.4Laser Numbers Lower, Upper18,50 19,51 20,52 21,53 22,54 23,55 24,56 25,57 26,58 27,59 28,60 29,61 30,62 31,63406.2 405.5 404.7 404.0 403.3 402.6 401.8 401.1 400.4 399.6 398.9 398.2 397.5 396.7406.2 405.5 404.7 404.0 403.3 402.6 401.8 401.1 400.4 399.6 398.9 398.2 397.5 396.7382.9 382.2 381.4 380.7 380.0 379.3 378.5 377.8 377.1 376.3 375.6 374.9 374.2 373.4382.9 382.2 381.4 380.7 380.0 379.3 378.5 377.8 377.1 376.3 375.6 374.9 374.2 373.4359.6 358.9 358.1 357.4 356.7 356.0 355.2 354.5 353.8 353.1 352.3 351.6 350.9 350.1359.6 358.9 358.1 357.4 356.7 356.0 355.2 354.5 353.8 353.1 352.3 351.6 350.9 350.1336.3 335.6 334.9 334.1 333.4 332.7 331.9 331.2 330.5 329.8 329.0 328.3 327.6 326.8336.3 335.6 334.9 334.1 333.4 332.7 331.9 331.2 330.5 329.8 329.0 328.3 327.6 326.8313.0 312.3 311.6 310.8 310.1 309.4 308.6 307.9 307.2 306.5 305.7 305.0 304.3 303.5313.0 312.3 311.6 310.8 310.1 309.4 308.6 307.9 307.2 306.5 305.7 305.0 304.3 303.5289.7 289.0 288.3 287.5 286.8 286.1 285.3 284.6 283.9 283.2 282.4 281.7 281.0 280.3289.7 289.0 288.3 287.5 286.8 286.1 285.3 284.6 283.9 283.2 282.4 281.7 281.0 280.3First Trans Trigger to Ethernet Trans Enable 419.3 usEthernet Output Duration 100 usTotal Packet Bytes 1248Header Bytes 42Data Bytes 1200Footer Bytes 6Byte per microsecond 12.48Microseconds per Byte 0.080128How to use this tableThe 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.velodynelidar.com HDL-64E S2 User’s Manual19