Velodyne Lidar HDL-32E User manual

HDL-32E & VLP-16
Interface Box

Using the HDL-32E & VLP-16 sensors with the Interface Box
Caution!
There is no internal polarity nor over voltage protection in the sensors; therefore it is imperative
that the Interface Box and/or protective circuitry be incorporated into every installation.
The interface box contains circuitry to protect against:
1. Over Voltage:
The Interface Box accepts 9VDC to 18 VDC input voltage. The over voltage protection is triggered
at 32 V and blows the 3 A automotive blade fuse.
2. Reverse Voltage:
The reverse voltage protection is triggered at 0.6 V until the 3 A fuse blows or the TVS diode
burns out.
Important!
When reducing the length of the interface cable, take care to ensure the terminal block is
correctly wired. Reversing the power and ground at the terminal block may result inirrepa-
rable damage to the sensors.
Avertissement!
Les capteurs n’ont pasde polarité interne ni deprotection contre la surtension. Ilest donc impératif
que chaque installation soit munied’un boîtier d’interface et/ou d’uncircuit de protection.
Le boîtier d’interface contient une circuiterie de protection contre :
1. La surtension : Le boîtier d’interface fonctionne avec uneplagedetension d’entrée de 9 à
32 V CC.La protection contre la surtension s’enclenchera à 34V jusqu’à ce que le fusible 3
Asaute.
2. Tension inverse: La protection contre la tension inverse s’enclenche à 0,6 V jusqu’à ce que
le fusible 3 A saute ou jusqu’à ce que la diode du limiteur de surtension s’éteigne.
Important!
Assurez-vous que le bloc de jonction est bien raccordé lorsque vous raccourcissez le
câble de l’interface. Vous pourriez causer des dommages irréparables aux capteurs si
vous inversez les fils d’alimentation et de terre du bloc de jonction.
HDL-32E & VLP-16 Interface Box
1

Using the HDL-32E & VLP-16 sensors in hardwired applications.
The sensors may be integrated into a custom system by removing the Interface Box and cutting
the interface cable to the desired length. When integrated into a custom system, adequate circuit
protection – similar to that provided by the interface box - must be included to safeguard against
damaging the sensors.
Failing to provide adequate circuit protection may result inirreparable damage to the sensors.
The schematic of Velodyne’s interface circuit is contained in the following pages.
2

Time Synchronization with an External GPS/INS System
The sensors can synchronize their data with precision, GPS-supplied time pulses. Synchronizing to
the GPS pulse-per-second (PPS) signal provides users the ability to compute the exact firing time of
each data point.
To utilize these features the user must configure their GPS/INS device to issue a once-per-second
synchronization pulse in conjunction with a once-per-second NMEA $GPRMC sentence. No other
NMEA message will be accepted by the sensors. Other NMEA sentences might be misinterpreted.
The $GPRMC record may be configured for HHMMSS, HHMMSS.s, HHMMSS.ss, and HHMMSS.sss
formats.
For additionalinformation, please refer to the tables and diagrams in the following section
“Interface Cable Signal Description.”
• The serial data output from the GPS/INS should be connected to the sensor Interface
Box via the screw terminal labeled: “GPS RECEIVE.”
• The PPS output from the GPS/INS should be connected to the sensor Interface Box via the
screw terminal labeled: “GPS PULSE.”
• The ground signal(s) from the GPS/INS should be connected to the sensor Interface Box
via the screw terminal labeled: “GROUND.”
• Serial configuration for the NMEA message should be 9600 baud, 8N1.
The PPS synchronization pulse and $GPRMC message may be issued concurrently or
sequentially. The PPS synchronization pulse width is not critical (typical lengths are between 10ms
and 200ms), however reception of the $GPRMC sentence must conclude no less than 300ms before
the rising edge of the next synchronization pulse.
Electrical Characteristics
• Logical “1”: Voltage must be greater than 3 V and less than 15 V.
• Logical “0”: Voltage must be less than 1.2 V
• The GPS/INS unit must be able to supply at least 2 mA of current in the logical 1 state.
• Polarity of the NMEA message is as shown in Figure 1.
Figure 1
3

Wire
Black
Red
Yellow
White
Light Orange
Orange
Light Blue
Blue
Signal
Ground
Power
GPS Sync Pulse
GPS SerialReceive
Ethernet TX+
Ethernet TX-
Ethernet RX+
Ethernet RX-
Input/Output
Input
Input
Input
Input
Output
Output
Input
Input
Specifications
System Ground
9-18 VDC / 12 W
0 to 15 V
Figure 3
Figure 2
Interface Cable Signal Description
0 to 15 V
4

Schematic: HDL-32E and VLP-16 Interface Box
5

Mechanical Drawings: HDL-32E and VLP-16 Interface Box
6

Velodyne Corporate Headquarters
345 Digital Drive
Morgan Hill, CA 95037
United States
63-9259 Rev C