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

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Top MountingFour .406” [10.3mm]through holes for topmount option to securethe HDL to the vehicle.[33.8mm]1.33[177.8mm]7.00[177.8mm]7.00[12.7mm].50[12.7mm].50Figure 4. HDL top mounting illustration.Figure 4 shows the location of four .406” [10.3mm] thru holes for top mounting.For all mounting options, be sure the HDL-64E S2 is mounted securely to withstand vibrationand shock without risk of detachment. The unit need not be shock proofed — it is designed towithstand standard automotive G-forces.The HDL-64E S2 is weatherproofed to withstand wind, rain, and other adverse weatherconditions. The spinning nature of the HDL-64E S2 helps the unit shed excess water from thefront window that could hamper performance..w ww.velodynelidar.com HDL-64E S2 User’s Manual5
WiringThe HDL-64E S2 comes with a pre-wired connector, wired with power, DB9 serial, and standardRJ-45 Ethernet connectors.The connector wires are approximately 10’ [3 meters] in length.Power. Connect the red and black wires to vehicle power. Be sure red is positive polarity. THEHDL-64E S2 IS RATED ONLY FOR 12 VOLTS. Any voltage applied over 16 volts could damagethe unit. Expect the unit to draw 4-6 amps during normal usage.NOTE: The HDL-64E S2 does not have a power switch. It spins whenever power is applied.The HDL-64E S2 has a lockout circuit that prevents its lasers from firing at low RPMs.Ethernet. This standard Ethernet connector is designed to connect to a standard PC. See thenext section on usage for UDP packet formats.NOTE: The HDL-64E S2 is only compatible with network cards that have either MDI or AUTOMDIX capability.Serial Interface. The connector also features an RS-232 DB9 serial connector. This connectorallows for a firmware update to be applied to the HDL-64E S2 (Velodyne may release firmwareupdates from time to time). It also accepts commands to change the RPM of the unit.Cable Diagram. If you wish to wire your own connector, refer to Appendix A for a layout of thewiring pins.UsageData Packet ConstructionThe HDL-64E S2 outputs UDP Ethernet packets. Each packet contains a data payload of 1206bytes that consists of 12 blocks of 100-byte firing data followed by six bytes at the end of eachpacket that contains a spin counter and firmware version information. Each packet can be foreither the upper or lower laser banks (called “laser blocks”) - each bank contains 32 lasers.The packet format is as follows:2 bytes of header info. This header indicates whether the packet is for the upper block orthe lower block. The upper block will have a header of 0xEEFF and the lower block will havea header of 0xDDFF.2 bytes of rotational info. This is an integer between 0 and 35999. Divide this numberby 100 to get degrees from 0.32 laser returns broken into 3 bytes each. Each return contains two bytes of distanceinformation in .2 centimeter [2mm] increments, and one byte of intensity information(0 – 255, with 255 being the most intense return). A zero distance value within the datapacket indicates there are no returns up to 120 meters, the maximum range of the device.Six status bytes at the end of the packet:2 bytes spin count (binary). This field is incremented for each revolution. After 65,535revolutions, the counter resets to 0..w ww.velodynelidar.com HDL-64E S2 User’s Manual6
Page 1 and 2: HDL - 64E S2USER’SMANUALHigh Def
Page 3 and 4: Table of ContentsIntroduction . . .
Page 5 and 6: Principles of OperationThe HDL-64E
Page 7: Side MountingMountingBase[152.4mm]6
Page 11 and 12: horizOffsetCorrection: This value r
Page 13 and 14: SpecificationsSensor:Laser:Mechanic
Page 15 and 16: Appendix B - Angular ResolutionUppe
Page 17 and 18: You can now go to “Options/Proper
Page 19 and 20: Figure 6. Calibration values as see
Page 21 and 22: Appendix D - Ethernet Timing TableH
Page 23 and 24: HDL-64E S2 Sample Data PacketNo. Ti
Page 25 and 26: Appendix E - Dimensional Drawing260

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

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