HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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usaGeHDL-64E S2 User’s ManualDefine Sensor Memory IP Source and Destination AddressesThe HDL- 64E comes with the following default IP addresses:• Source: 192.168.3.043• Destination: 192.168.3.255To change either of the above IP addresses, issue a serial command of the case sensitive format #HDLIPAssssssssssssdddddddddddd$where,• ssssssssssss is the source 12-digit IP address• dddddddddddd is the destination 12-digit IP addressnote: Use all 12 digits to set an IP address. Use 0 (zeros) where a digit would be absent. For example, 192168003043 is the correct syntaxfor IP address 192.168.3.43.note: The unit must be power cycled to adopt the new IP addresses.Upload Calibration DataOlder version HDL- 64E sensors used the db.xml file exclusively for calibration data. The calibration data found in db.xml can be uploadedand saved to the unit’s flash memory by following the steps outlined below.1. Locate the files HDLCAL.bat, loadcal.exe, and db.xml from the CD and put them all in the same directory.2. Edit HDLCAL.bat to ensure the copy command lists the right COM port for RS-232 communication with the HDL- 64E.3. Run HDLCAL.bat and ensure successful completion.4. The HDL-64E unit now has received and saved the calibration data.To verify successful load of the calibration data, ensure the date and time of the upload have been updated. Refer to Appendix E for where inthe data packets this data can be located.External GPS Time SynchronizationThe HDL- 64E can synchronize its data with precision GPS-supplied time pulses to enable users to ascertain the exact firing time of each laserin any particular packet. The firing time of the first laser in a particular packet is reported in the form of microseconds since the top of the hour,and from that time each subsequent laser’s firing time can be derived via the table published in Appendix H.This capability requires a GPS receiver generating a sync pulse and the $GPRMC NMEA record over a dedicated RS-232 serial port. Theoutput from the GPS receiver is connected to an external GPS adaptor box supplied by Velodyne that conditions the signal and passes it tothe HDL- 64E. The GPS receiver can either be supplied by Velodyne or the customer can adapt their GPS receiver to provide the requiredsync pulse and NMEA record.GPS Receiver Option 1: Optional Velodyne Supplied GPS ReceiverUnder this option, a GPS receiver that is pre-programmed by Velodyne Model HDL-64-GPS, will be provided to HDL- 64E users. Thisreceiver will be pre-wired with an RS- 232 connector that plugs into the GPS adapter box. To obtain a pre-programmed GPS receiver,contact Velodyne sales or service.GPS Receiver Option 2: Customer’s GPS ReceiverUnder this option the customer must configure their GPS device to issue a once-a-second synchronization pulse, typically output over adedicated wire, and configure an available RS-232 serial port to issue a once-a-second $GPRMC NMEA record. No other output can beaccepted from the GPS device. Further, the sync pulse and NMEA record must be issued sequentially. The sync pulse length is notcritical (typical lengths are between 20ms and 200ms), but the $GPRMC record must start between 50ms and 500ms after the end ofthe sync pulse.[ 11 ]
usaGeHDL-64E S2 User’s Manualnote: The $GPRMC record can be configured for either hhmmss format or hhmmss.s format.The images below show the GPS adaptor box, included with the HDL-64E, and optional GPS receiver.GPS EQUIPMENTGPS Adaptor BoxModel No.HDL-64-ADAPT(Included)GPS ReceiverModel No.HDL-64-GPS(Optional)1 2 3 4 5 6 7 8GPS Adaptor Box Front & Back ViewDB-9 FConnect to HostComputer Serial PortDB-9 MConnect to InterfaceCable fromHDL-64E Unit# COLOR SIGNAL NAME1 Red +12V DC Power2 Black Power Ground3 Yellow 1 PPS (positive edge only)4 Red Vin (+5V)5 Black Ground6 White Transmit Data7 Brown Ground (Drain Wire)8 Green Receive Data[ 12 ]
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HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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