Velodyne VLP-32C User manual

VLP-32C User Manual
63-9325 Rev. C

Copyright 2019 Velodyne LiDAR, Inc. All rights reserved.
Trademarks
Velodyne™, HDL-32E™, HDL-64E™, VLP-16™, VLP-32™, Puck™, Puck LITE™, Puck Hi-Res™, Ultra Puck™, VLS-128™,
and Velarray™ are trademarks of Velodyne LiDAR, Inc. All other trademarks, service marks, and company names in this
document or website are properties of their respective owners.
Disclaimer of Liability
The information contained in this document is subject to change without notice. Velodyne LiDAR, Inc. shall not be liable for
errors contained herein or for incidental or consequential damage in connection with the furnishing, performance, or use
of this document or equipment supplied with it.
The materials and information contained herein are being provided by Velodyne LiDAR, Inc. to its Customer solely for Cus-
tomer’s use for its internal business purposes. Velodyne LiDAR, Inc. retains all right, title, interest in and copyrights to the
materials and information herein. The materials and information contained herein constitute confidential information of
Velodyne LiDAR, Inc. and Customer shall not disclose or transfer any of these materials or information to any third party.
No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, includ-
ing photocopying and recording, or stored in a database or retrieval system for any purpose without the express written
permission of Velodyne LiDAR, Inc., which reserves the right to make changes to this document at any time without notice
and assumes no responsibility for its use. This document contains the most current information available at the time of pub-
lication. When new or revised information becomes available, this entire document will be updated and distributed to all
registered users.
Limited Warranty
Except as specified below, products sold hereunder shall be free from defects in materials and workmanship and shall con-
form to Velodyne's published specifications or other specifications accepted in writing by Velodyne for a period of one (1)
year from the date of shipment of the products. The foregoing warranty does not apply to any Garmin products, other
products not manufactured by Velodyne or products that have been subject to misuse, neglect, or accident, or have been
opened, dissembled, or altered in any way. Velodyne shall make the final determination as to whether its products are
defective. Velodyne 's sole obligation for products failing to comply with this warranty shall be, at its option, to either repair,
replace or issue credit for the nonconforming product where, within fourteen (14) days of the expiration of the warranty
period, (i) Velodyne has received written notice of any nonconformity; (ii) after Velodyne's written authorization, Buyer has
returned the nonconforming product to Velodyne at Buyer's expense; and (iii) Velodyne has determined that the product is
nonconforming and that such nonconformity is not the result of improper installation, repair or other misuse. Velodyne will
pay for return shipping for all equipment repaired or replaced under warranty and Buyer will pay all duties or taxes, if any,
on all equipment repaired or replaced under warranty. THE FOREGOING WARRANTY AND REMEDIES ARE
EXCLUSIVE AND MADE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED OR
OTHERWISE, INCLUDING WARRANTIES OF 65-0003 Rev E Velodyne LiDAR Terms & Conditions Page 3 of 5 2016-
03-31 MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. VELODYNE DOES NOT ASSUME OR
AUTHORIZE ANY OTHER PERSON TO ASSUME FOR IT ANY OTHER LIABILITY IN CONNECTION WITH ITS
PRODUCTS. This warranty is non-transferable.
Velodyne LiDAR, Inc.
5521 Hellyer Ave
San Jose, CA 95138
Phone [phone]

Revision History
Sensor Firmware Release
Date Release Notes
VLP-32C 4.3.0.0 2018-06-15
• Initial Public Release
• ADDED: Laser Power Level reduction
based on 3 Channel Groups.
• FIXED: Ethernet missing ICMP (Ping)
responses.
• UPDATED: Beam divergence angles
table.
• ADDED: Thermal and ADC fields to the
Position Packet.
• REMOVED: Ring lens cleaning Method 4.
Use of Simple Green is deprecated.
• REVISED: Sensor Care section.
For full details, see the Release Notes at http://www.velodynelidar.com/downloads.html#firmware.
Last Updated: 2019-02-07 3

Table of Contents
Chapter 1 • About This Manual
1.1 Manual Scope 16
1.2 Prerequisite Knowledge 16
1.3 Audience 16
1.4 Document Conventions 16
Chapter 2 • VLP-32C Overview
2.1 Overview 18
2.2 Product Models 19
2.3 Time of Flight 19
2.4 Data Interpretation Requirements 19
Chapter 3 • Safety Precautions
3.1 Warning and Caution Definitions 20
3.1.1 Caution Hazard Alerts 20
3.2 Safety Overview 20
3.2.1 Electrical Safety 20
3.2.2 Mechanical Safety 20
3.2.3 Laser Safety 20
Chapter 4 • Unboxing & Verification
4.1 What’s in the Box? 22
4.1.1 Variants 22
4.2 Verification Procedure 22
4.2.1 Network Setup in Isolation 23
4.2.2 Access Sensor’s Web Interface 24
4.2.3 Visualize Live Sensor Data with VeloView 26
4.2.3.1 VeloView Operation 27
Chapter 5 • Installation & Integration
5.1 Overview 29
5.2 Mounting 29
5.3 Encapsulation, Solar Hats, and Ventilation 30
4 VLP-32C User Manual

5.4 Connections 30
5.4.1 Interface Box and Cable 31
5.4.2 Operation Without an Interface Box 31
5.4.3 Power 31
Chapter 6 • Key Features
6.1 Calibrated Reflectivity 32
6.2 Laser Return Modes 32
6.2.1 Single Return Modes: Strongest, Last 32
6.2.2 Multiple Returns 33
6.2.3 Dual Return Mode 33
6.3 Phase Locking Multiple Sensors 37
Chapter 7 • Sensor Inputs
7.1 Power Requirements 39
7.2 Interface Box Signals 40
7.3 Ethernet Interface 41
7.4 GPS, Pulse Per Second (PPS) and NMEA Sentence 41
7.4.1 GPS Input Signals 41
7.4.2 Electrical Requirements 41
7.4.3 Timing and Polarity Requirements 41
7.4.4 GPS Connection Scenarios 44
7.4.4.1 Connecting a Garmin 18x LVC GPS Receiver 44
7.4.4.2 Connecting to a computer's serial port 46
7.4.4.3 Connecting to a microcomputer’s UART 46
7.4.5 NMEA Message Formats 47
7.4.5.1 Pre-NMEA Version 2.3 Message Format 47
7.4.5.2 NMEA Version 2.3 Message Format 48
7.4.6 Accepting NMEA Messages Via Ethernet 49
Chapter 8 • Sensor Operation
8.1 Firing Sequence 50
8.2 Throughput Calculations 50
5

8.2.1 Data Packet Rate 50
8.2.2 Position Packet Rate 51
8.2.3 Total Packet Rate 51
8.2.4 Laser Measurements Per Second 51
8.2.4.1 Single Return Mode (Strongest, Last) 51
8.2.4.2 Dual Return Mode 51
8.3 Rotation Speed (RPM) 51
8.3.1 Horizontal Angular (Azimuth) Resolution 51
8.3.2 Rotation Speed Fluctuation and Point Density 52
Chapter 9 • Sensor Data
9.1 Sensor Origin and Frame of Reference 53
9.2 Calculating X,Y,Z Coordinates from Collected Spherical Data 53
9.3 Packet Types and Definitions 54
9.3.1 Definitions 54
9.3.1.1 Firing Sequence 55
9.3.1.2 Laser Channel 55
9.3.1.3 Data Point 55
9.3.1.4 Azimuth 55
9.3.1.5 Data Block 55
9.3.1.6 Time Stamp 55
9.3.1.7 Factory Bytes 56
9.3.2 Data Packet Structure 56
9.3.3 Position Packet Structure 59
9.4 Discreet Point Timing Calculation 62
9.5 Precision Azimuth Calculation 66
9.6 Converting PCAP Files to Point Cloud Formats 69
Chapter 10 • Sensor Communication
10.1 Web Interface 70
10.1.1 Configuration Screen 71
10.1.1.1 MAC Address 73
10.1.1.2 Correctly reset MAC Address to Factory MAC Address 73
6 VLP-32C User Manual

10.1.2 System Screen 74
10.1.3 Info Screen 75
10.1.4 Diagnostics Screen 77
10.2 Sensor Control with curl 78
10.2.1 Using curl with Velodyne LiDAR Sensors 78
10.2.2 curl Command Parameters 78
10.2.3 Command Line curl Examples 79
10.2.3.1 Get Diagnostic Data 79
10.2.3.2 Conversion Formulas 80
10.2.3.3 Interpret Diagnostic Data 80
10.2.3.3.1 top:hv 80
10.2.3.3.2 top:lm20_temp 81
10.2.3.3.3 top:pwr_5v 81
10.2.3.3.4 top:pwr_2_5v 81
10.2.3.3.5 top:pwr_3_3v 81
10.2.3.3.6 top:pwr_raw 82
10.2.3.3.7 top:pwr_vccint 82
10.2.3.3.8 bot:i_out 82
10.2.3.3.9 bot:lm20_temp 82
10.2.3.3.10 bot:pwr_1_2v 83
10.2.3.3.11 bot:pwr_1_25v 83
10.2.3.3.12 bot:pwr_2_5v 83
10.2.3.3.13 bot:pwr_3_3v 83
10.2.3.3.14 bot:pwr_5v 83
10.2.3.3.15 bot:pwr_v_in 84
10.2.3.4 Get Snapshot 84
10.2.3.5 Get Sensor Status 84
10.2.3.6 Set Motor RPM 84
10.2.3.7 Set Field of View 85
10.2.3.8 Set Return Type (Strongest, Last, Dual) 85
10.2.3.9 Save Configuration 85
7

10.2.3.10 Reset System 85
10.2.3.11 Network Configuration 86
10.2.3.12 Set Host (Destination) IP Address 86
10.2.3.13 Set Data Port 86
10.2.3.14 Set Telemetry Port 86
10.2.3.15 Set Network (Sensor) IP Address 86
10.2.3.16 Set Netmask 86
10.2.3.17 Set Gateway 86
10.2.3.18 Set DHCP 86
10.2.4 curl Example using Python 87
Chapter 11 • Troubleshooting
11.1 Troubleshooting Process 89
11.1.1 Turned DHCP On, Lost Contact With Sensor 90
11.2 Service and Maintenance 91
11.2.1 Fuse Replacement 91
11.3 Technical Support 92
11.3.1 Purchased through a Distributor 92
11.3.2 Factory Support 92
11.3.3 Support Desk 92
11.4 Return Merchandise Authorization (RMA) 92
Appendix A • Sensor Specifications
Appendix B • Firmware Update
B.1 Firmware Update Procedure 94
B.1.1 Special Procedure to Update Firmware 100
B.1.2 If An Error Occurs 101
Appendix C • Mechanical Diagrams
C.1 Interface Box Mechanical Drawing 103
C.2 VLP-32C Mechanical Drawing 104
Appendix D • Wiring Diagrams
D.1 Interface Box Wiring Diagram 106
8 VLP-32C User Manual

D.2 Interface Box Schematic 107
Appendix E • VeloView
E.1 Features 108
E.2 Install VeloView 109
E.3 Visualize Streaming Sensor Data 109
E.4 Capture Streaming Sensor Data to PCAP File 111
E.5 Replay Captured Sensor Data from PCAP File 112
Appendix F • Laser Pulse
F.1 The Semiconductor Laser Diode 117
F.2 Laser Patterns 118
F.2.1 Laser Spot Pattern 118
F.2.2 Laser Scan Pattern 118
F.2.3 Beam Divergence 119
Appendix G • Time Synchronization
G.1 Introduction 121
G.2 Background 121
G.3 PPS Qualifier 122
G.3.1 Require GPS Receiver Valid 122
G.3.2 Require PPS Lock 122
G.3.3 Delay 123
G.4 GPS Qualifier 123
G.5 Application 123
G.6 Logic Tables 123
Appendix H • Phase Lock
H.1 Phase Lock 125
H.1.1 Setting the Phase Lock 125
H.1.2 Application Scenarios 126
H.2 Field of View 128
Appendix I • Sensor Care
I.1 Cleaning the Sensor 129
9

I.1.1 Required Materials 129
I.1.2 Determine Method of Cleaning the Ring Lens 129
I.1.3 Cleaning Tips 130
I.1.4 Method 1 130
I.1.5 Method 2 130
I.1.6 Method 3 130
I.2 Cleaning Non-Optical Sensor Surfaces 131
Appendix J • Network Configuration
J.1 Ethernet and Network Setup 132
J.1.1 Defaults 132
J.1.2 Establishing Communication via Ethernet 132
J.2 Network Considerations 133
J.2.1 Throughput Requirements 133
J.2.2 Single Sensor Transmitting to a Broadcast Address 134
J.2.3 Multiple Sensors in the Same Network 134
J.2.3.1 Multiple Sensors Transmitting to a Broadcast Address 134
J.2.3.2 Multiple Sensors Transmitting to a Specific Address 135
10 VLP-32C User Manual

List of Tables
Table 1-1 Document Conventions 16
Table 2-1 3D Sensing System Components 19
Table 7-1 Interface Box Signals 40
Table 7-2 Pre-NMEA Version 2.3 Message Format 48
Table 7-3 Post-NMEA Version 2.3 Message Format 48
Table 8-1 Rotation Speed vs Resolution 52
Table 9-1 Factory Byte Values 56
Table 9-2 VLP-32C Data Order in Data Block 58
Table 9-3 Position Packet Structure Field Offsets 59
Table 9-4 PPS Status Byte Values 61
Table 9-5 VLP-32C's Lasers Fire in Pairs 62
Table 9-6 VLP-32C Azimuth Offsets by Elevation 66
Table 10-1 Configuration Screen Functionality and Features 71
Table 10-2 System Screen Functionality and Features 74
Table 10-3 Info Screen Functionality and Features 75
Table 10-4 System Screen Functionality and Features 77
Table 11-1 Common Problems and Resolutions 89
Table F-1 VLP-32C Beam Divergence 120
11

List of Figures
Figure 2-1 Example 3D Sensing System 18
Figure 3-1 Class 1 Laser 21
Figure 4-1 Sensor Network Settings 23
Figure 4-2 Interface Box (power and data connections) 24
Figure 4-3 Sample Web Interface Main Configuration Screen 25
Figure 4-4 VeloView Open Sensor Stream 27
Figure 4-5 VeloView Select Sensor Calibration 27
Figure 4-6 VeloView Sensor Stream Display 28
Figure 5-1 Mounting Details 29
Figure 6-1 A Single Return 33
Figure 6-2 Dual Return with Last and Strongest Returns 34
Figure 6-3 Dual Return with Second Strongest Return 35
Figure 6-4 Dual Return with Far Retro-Reflector 36
Figure 6-5 Forestry Application Multiple Returns 37
Figure 6-6 Phase Locking Example 38
Figure 7-1 Interface Box 40
Figure 7-2 Synchronizing PPS with NMEA GPRMC Message 41
Figure 7-3 PPS Signal Closely Followed by NMEA GPRMC Message 42
Figure 7-4 PPS Signal Followed 600 ms later by NMEA GPRMC Message 42
Figure 7-5 RS-232 Example Transmission 43
Figure 7-6 Garmin 18x LVC Configuration 44
Figure 7-7 Garmin GPRMC Message 45
Figure 7-8 DB9 Pin-outs (DTE) and USB-to-Serial Adapter 46
Figure 7-9 Signal Directly from UART (incorrect polarity) 46
Figure 7-10 Inverted Signal from UART (correct polarity) 47
Figure 8-1 Firing Sequence Timing 50
Figure 8-2 Point Density Example 52
Figure 9-1 VLP-32C Sensor Coordinate System 54
Figure 9-2 VLP-32 Single Return Mode Data Structure 57
Figure 9-3 VLP-32 Dual Return Mode Data Structure 58
Figure 9-4 Wireshark Position Packet Trace 61
Figure 9-5 Firing Sequence Timing 62
Figure 9-6 Example Data Point Timing Calculation 64
Figure 9-7 Single Return Mode Timing Offsets (in µs) 65
12 VLP-32C User Manual

Figure 9-8 Dual Return Mode Timing Offsets (in µs) 66
Figure 10-1 VLP-32C Configuration Screen 71
Figure 10-2 VLP-32C System Screen 74
Figure 10-3 VLP-32C Info Screen 75
Figure 10-4 VLP-32C Diagnostics Screen 77
Figure B-1 Velodyne Downloads Page 94
Figure B-2 Compare Firmware Versions 95
Figure B-3 Select New Firmware Image 96
Figure B-4 Upload New Firmware Image 97
Figure B-5 Firmware Update Complete Page 98
Figure B-6 Finalize Firmware Update 99
Figure B-7 Verify Firmware Versions 100
Figure C-1 Interface Box Mechanical Drawing 50-6001 Rev A 103
Figure C-2 VLP-32C Mechanical Drawing 86-0130 Rev 1 104
Figure D-1 Interface Box Wiring Diagram 86-0107A 106
Figure D-2 Interface Box Schematic 69-8230A 107
Figure E-1 VeloView Open Sensor Stream 109
Figure E-2 VeloView Select Sensor Calibration 110
Figure E-3 VeloView Sensor Stream Display 111
Figure E-4 VeloView Record Button 112
Figure E-5 VeloView Open Capture File 113
Figure E-6 VeloView Play Button 113
Figure E-7 VeloView Spreadsheet Tool 114
Figure E-8 VeloView Data Point Table 114
Figure E-9 VeloView Show Only Selected Elements 115
Figure E-10 VeloView Select All Points 115
Figure E-11 VeloView List Selected Points 116
Figure F-1 Laser Diode Concept 117
Figure F-2 Laser Spot Shape 118
Figure F-3 Laser Spots on a Wall 119
Figure G-1 Web Interface PPS and GPS Qualifier Option Selections 121
Figure G-2 Top of Hour Counters 122
Figure G-3 Sub-Second Counter Behavior 123
Figure G-4 Minutes and Seconds Counter Behavior 124
Figure H-1 Direction of Laser Firing 125
Figure H-2 Configuration Screen - Phase Lock 126
13

Figure H-3 Right and Left Sensor Phase Offset 127
Figure H-4 Fore and Aft Sensor Phase Offset 127
Figure H-5 Sensor Data Shadows 128
Figure J-1 Sensor Network Settings 133
Figure J-2 Single Sensor Broadcasting on a Simple Network 134
Figure J-3 Multiple Sensors - Improper Network Setup 135
Figure J-4 Multiple Sensors - Proper Network Setup 135
14 VLP-32C User Manual

List of Equations
Equation 8-1 Azimuth Resolution at 600 RPM 52
Equation 10-1 Standard Voltage Conversion 80
Equation 10-2 Standard Current Conversion 80
Equation 10-3 Standard Temperature Conversion 80
Equation F-1 Gap Between Scan Lines 118
Equation H-1 Arc of Shadow 128
15

Chapter 1 • About This Manual
1.1 Manual Scope
This manual provides descriptions and procedures supporting the installation, verification, operation, and diagnostic eval-
uation of the VLP-32 "Ultra Puck" family of Velodyne LiDAR sensors.
1.2 Prerequisite Knowledge
This manual is written with the premise that the user has some basic engineering experience and general understanding
of LiDAR technology. In addition, some familiarity with the configuration and operation of networking applications and
equipment is recommended.
It is recommended that prior to installation or other procedures covered in this manual, the user fully reads and com-
prehends all information within this manual.
1.3 Audience
The user mentioned occasionally in this document is typically an engineer tasked with sensor integration for a project, a
tech tasked with sensor upkeep, or data scientist looking to understand sensor output data.
1.4 Document Conventions
This document uses the following typographic conventions:
Convention Description
Bold Indicates text on a window, other than the window title, including menus, menu options, buttons,
fields, and labels. Example: Click OK.
Italic
Indicates a variable, which is a placeholder for actual text provided by the user or system. Example:
copy source-file target-file Note: Angled brackets (< >) are also used to indicate variables.
screen/code Indicates text that is displayed on screen or entered by the user. Example:
# pairdisplay -g oradb
[ ] square
brackets Indicates optional values. Example: [ a | b ] indicates that you can choose a, b, or nothing.
{ } braces Indicates required or expected values. Example: { a | b } indicates that you must choose either a or
b.
| vertical bar Indicates that you have a choice between two or more options or arguments. Examples: [ a | b ]
indicates that you can choose a, b, or nothing. { a | b } indicates that you must choose either a or b.
Table 1-1 Document Conventions
16 VLP-32C User Manual

Note: Notes such as this indicate important information. They call attention to an operating procedure or practice which
may enhance user interaction with the product. Notes may also be used to prevent information loss or product damage.
Chapter 1 • About This Manual 17

Chapter 2 • VLP-32C Overview
This chapter provides basic information on the sensor's hardware and software components.
2.1 Overview 18
2.2 Product Models 19
2.3 Time of Flight 19
2.4 Data Interpretation Requirements 19
2.1 Overview
The VLP-32C sensor uses 32 infra-red (IR) lasers paired with IR detectors to measure distances to objects. The device is
mounted securely within a compact, weather-resistant housing. The assembly of laser/detector pairs spins rapidly within
its fixed housing to scan the surrounding environment, firing each laser approximately 18,000 times per second, providing,
in real-time, a rich set of 3D point data.
Advanced digital signal processing and waveform analysis provide highly accurate long-range sensing, as well as cal-
ibrated reflectivity data, enabling easy detection of retro-reflectors like street-signs, license plates, and lane markings.
Sensor data is made available to your application via Ethernet in real-time in the form of UDP packets.
Figure 2-1 Example 3D Sensing System
18 VLP-32C User Manual

Item Description
1 Desktop/Laptop Computer
2 INS/GPS Antenna/Interface (optional)
3 Velodyne Interface Box
4 Velodyne LiDAR Sensor
5 DC Power Supply
Table 2-1 3D Sensing System Components
Note: Optional - not included unless ordered: Garmin GPS 18x LVC receiver (P/N: 80-GPS18LVC). When purchased
through Velodyne LiDAR, it comes pre-configured for use with any Velodyne sensors, making it a great reference GPS
receiver. Plugs directly into the Interface Box.
2.2 Product Models
For ordering information, contact Sales at http://www.velodynelidar.com/contacts.php. Data sheets for available models
can be downloaded from http://velodynelidar.com/downloads.html#datasheets.
2.3 Time of Flight
Velodyne LiDAR sensors use time-of-flight (ToF) methodology.
When each IR laser emits a laser pulse, its time-of-shooting and direction are registered. The laser pulse travels through
air until it hits an obstacle which reflects some of the energy. A portion of that energy is received by the paired IR detector,
which registers the time-of-acquisition and power received.
2.4 Data Interpretation Requirements
Desktop, Laptop or Embedded computer
Advanced geo-referencing software application
GPS-Based
SLAM-Based
User Built
Purchased from System Integrator
For more software details, see Converting PCAP Files to Point Cloud Formats on page 69 .
Note: Click the following link to view a list of Velodyne system integrators who can sell you imaging software or a complete
system: http://velodyneLiDAR.com/integrators.php.
Chapter 2 • VLP-32C Overview 19

Chapter 3 • Safety Precautions
This chapter provides information necessary for the safe operation of Velodyne LiDAR sensors.
Observe the following general safety precautions during all LiDAR sensor phases of operation. Failure to comply with
these precautions or with specific warnings elsewhere in this manual violates safety standards of intended sensor usage
and may impair the protection provided by the equipment. Velodyne LiDAR, Inc. assumes no liability for failure to comply
with these requirements.
3.1 Warning and Caution Definitions
3.1.1 Caution Hazard Alerts
CAUTION
CAUTION indicates a potentially hazardous situation which may res-
ult in minor or moderate injury. It may also be used to alert against
unsafe practices. The icon shown in the left column displays the spe-
cific concern; in this case, a hot surface.
3.2 Safety Overview
3.2.1 Electrical Safety
IMPORTANT: Read all installations instructions before powering up the sensor.
Note: The VLP-32C sensor is not field serviceable. For servicing and repair, the equipment must be completely shut off,
removed, packaged carefully, and shipped back to the manufacturer's facility with a completed RMA Form. See Service
and Maintenance on page 91 for details.
3.2.2 Mechanical Safety
CAUTION
The VLP-32C sensor contains a rapidly spinning assembly. Do not
operate the VLP-32C sensor without its cover firmly installed. The
sensor does not contain user serviceable parts. It should not be
opened in the field.
3.2.3 Laser Safety
This device complies with FDA performance standards for laser products except for deviations pursuant to Laser Notice
No. 50, dated June 24, 2007.
20 VLP-32C User Manual