Velodyne HD HDL-64E S2 Operating instructions

USER'S
MANUAL
AND
PROGRAMMING
GUIDE
Firmware Version 4.07
e
HDL-64E
S2
and
S2.1
High
Definition
LiDAR™
Sensor
Velodyne
VEL00002583
Ex. 2050-0001
Velodyne LiDAR, Inc.
Exhibit 2050
Quanergy Systems, Inc. v. Velodyne LiDAR, Inc.
Case IPR2018-00256

SAFETY
NOTICES
INTRODUCTION
In
The
Box
2
PRINCIPLES
OF
OPERATION
3
INSTALLATION
OVERVIEW
3
FrontlBack
Mounting
4
Side
Mounting
5
Top
Mounting
6
Wiring
6
USAGE
6
Use
the
Included
Point-cloud
Viewer
6
Develop
Your
Own
Application-specific
Point-cloud
Viewer
7
db.xml
Calibration
Parameters
8
Change
Run-Time
Parameters
10
Control
Spin
Rate
-
Change
Spin
Rate
in
Flash
Memory
-
Change
Spin
Rate
in
RAM
Only
10
Limit
Horizontal
FOV
data
Collected
11
Define
Sensor
Memory
IP
Source
and
Destination
Addresses
11
Upload
Calibration
Data
11
External
GPS
Time
Synchronization
-
GPS
Receiver
Option
1:
Velodyne
Supplied
GPS
Receiver
-
GPS
Receiver
Option
2:
Customer
Supplied
GPS
Receiver
13
Packet
Format
and
Status
Byte
for
GPS
Time
Stamping
13
Time
Stamping
Accuracy
Rules
13
Laser
Firing
Sequence
and
Timing
14
FIRMWARE
UPDATE
15
APPENDI
X A:
Mechani
ca
l
Drawing
s
16
APPENDIX
B:
Wiring
Diagram
17
APPENDI
X C:
Dig
i
tal
Sensor
Recorder
(DSR)
17
Install
17
Calibrate
17
Live
Playback
18
Record
Data
18
Playback
of
Recorded
Files
19
DSR
Key
Controls
19
DSR
Mouse
Controls
20 APPENDIX D:
Matlab
Sample
Code
22
Reading
Calibration
and
Sensor
Parameter
Data
23
APPENDI
X E:
Data
Packet
Format
27
Last
Six
Bytes
Examples
30 APPENDIX F:
Dual
T
wo
Point
Calibration
Methodology
34
APP
ENDI X G:
Ethernet
Transmit
Timing
Table
36
APPENDIX H:
Laser
and
Detector
Arrangement
37
APPENDIX I:
Angul
ar
Resolution
38
TROUBLESHOOTING
38
SERVICE
AND
MAINTENANCE
39
SPECIFICATIONS
VEL00002584
Ex. 2050-0002

CAUTION -SAFETY
NOTICE
Caution
To
reduce
the
risk
of
electric
shock
and
to
avoid
violating
the
warranty
,
do
not
open
sensor
body.
Refer
servicing
to
qualified
service
personnel.
The
lightning
flash
with
arrowhead
symbol
is
intended
to
alert
the
user
to
the
presence
of
uninsulated
"
dangerous
voltage
"
within
the
product's
enclosure
that
may
be
of
sufficient
magnitude
to
constitute
a
risk
of
electric
shock
to
persons.
The
ex
clamation
point
symbol
is
intended
to
alert
the
user
to
the
presence
of
important
opera
ting
and
maintenance
(servicing)
instruction
s
in
the
l~erature
accompanying
the
product.
1.
Read
Instructions
-All
safety
and
operating
instructions
should
be
read
before
the
product
is
operated.
2.
Retain
Instructions
-
The
safety
and
operating
instructions
should
be
retained
for
future
reference
.
3.
Heed
Warnings
-All
warnings
on
the
produc
t
and
in
the
operating
instructions
should
be
adhered
to
.
4.
Follow
Instructions
-All
operating
and
use
instructions
should
be
followed
.
5.
Servicing
-
The
user
should
not
attempt
to
service
the
product
beyond
what
is
described
in
the
operating
instructions
.
All
other
servicing
should
be
referred
to
Velodyne
.
[i
l
V
EL
00002585
Ex. 2050-0003

INTRODUCTION
HDL-64E
S2
and
S2.1
User
's
Manua
l
Congratulations
on
your
purchase
ofa
Velodyne
HDL-64E
S2
or
S2.1
High
Definition
LiDAR
Sensor.
These
sensors
represent
a
breakthrough
in
sensing
technology
by
providing
more
information
about
the
surrounding
environment
than
previously
possible
.
The
HDL-64E
S2
or
S2.1
High
Definition
LiDAR
sensors
are
referred
to
as
the
sensor
throughout
this
manual.
This
manual
and
programming
guide
covers:
•
Installation
and
wiring
•
HDL-64-ADAPT
(GPS
Adaptor
Box)
•
The
data
packet
format
•
The
serial
interface
•
Software
updates
•
GPS
installation
notes
•
Viewing
the
data
•
Programming
information
This
manual
applies
to
the
two
versions
of
the
HDL
-64E
sensor,
t
he
S2
and
S2
.1,
unless
otherwse
indicated
. T
he
table
below
compares
t
he
laser
layout
,
vertical
field
of
view
(VFOV)
and
primary
application
of
the
two
versions.
HDL-64E
Version
Lower
Laser
Block
Upper
Laser
Block
Vertical
Field
of
View
(VFOV)
Primary
Application
S2
32
lasers
separated
by
32
lasers
separated
by
+2
to
-
24.8°
Autonomous
navig
ation
%0
vertical
spacing
1/3°
vertical
spacing
S2
.1
32
lasers
separated
by
32
lasers
separated
by
31
.
s·
30
mapping
(dual
lower
block)
%0
vertical
spacing
%0
vertical
spacing
For
the
latest
update
s
to
this
manual
-
check
www.velodynelidar
.
com
.
In
the
Box
Each
shipment
contains:
•
Sensor
•
HDL-64-ADAPT
(GPS
Adapto
r
Box)
•
Wiring
harne
ss
•CD
with
user
manual
,
ca
libr
a
tion
file
(db.xml)
,
timing
ta
ble
calculation
file
(
.x
i
s)
and
DSR
viewer
[
1]
VEL00002586
Ex. 2050-0004

PRINCIPLES
OF
OPERATION
HDL-64E
S2
and
S2.l
User's
Manua
l
The
sensor
operates
,
instead
of
a
single
laser
firing
through
a
rotating
mirror
,
with
64
lasers
fixed
mounted
on
upper
and
lower
laser
blocks
,
each
housing
32
lasers.
Both
laser
blocks
rotate
as
a
single
unit.
With
this
design
each
of
the
lasers
fires
tens
of
thousands
of
times
per
second
,
providing
ex
ponentially
more
data
points/second
and
a
more
data-intensive
point
cloud
than
a
rotating
mirror
design
.
The
sensor
delivers
a
360°
horizontal
Field
of
View
(HFOV)
and
a
26.8°
vertical
FOV
(31.5°
VFOV
for
the
S2
.
1).
Additionally
,
state-of-the-art
digital
signal
processing
and
waveform
analysis
are
employed
to
provide
high
accuracy
,
extended
distance
sensing
and
intensity
data.
The
sensor
is
rated
to
provide
usable
returns
up
to
120
meters.
T
he
sensor
employs
a
direct
drive
motor
system
with
no
belts
or
chains
in
the
drive
train.
See
the
specifications
at
the
end
of
this
manual
for
more
information
about
sensor
operating
conditions
.
Laser
Emitters
Laser
Receivers
(Groups
of
32)
Motor
Figure
1.
HDL-64E
S2
design
overview
[2]
Housing
(Entire
un
it s
pins
at
5-20
Hz
)
VEL00002587
Ex. 2050-0005

INSTALLATION OVERVIEW
HDL-64E
S2
and
S2.l
User's
Manua
l
The
sensor
base
provides
the
following
mounting
options:
•
FronUBack
mount
(Figure
2)
•
Side
mount
(Figure
3)
•
Top
mount
(Figure
4)
The
sensor
can
be
mounted
at
any
angle
from
O
to
90°
with
respect
to
its
base
.
Refer
to
Appendix
A
for
complete
dimensions.
For
all
mounting
options,
mount
the
sensor
to
withstand
vibration
and
shock
w~hout
risk
of
detachment.
Although
helpful
for
longer
life
,
the
unit
doesn
't
need
to
be
shock
proofed
as
it's
designed
to
withstand
standard
automotive
G-forces.
The
sensor
is
weatherproofed
to
withstand
wind
,
rain
and
other
adverse
weather
conditions.
The
spinning
of
the
sensor
helps
it
shed
excess
water
from
the
front
window
that
could
hamper
performance.
Front/Back
Mounting
F
igure
2.
Fro
nt
an
d
ba
ck
HOL
mount
ing
illu
stra
ti
on.
[3]
Mounting
Base
Two
M8-1
.
25mm
x
12mm
deep
mounting
points
.
(Two
per
side
,
for
a
total
of
8.)
VEL00002588
Ex. 2050-0006

INSTALLATION OVERVIEW
Side
Mounting
F
igure
3.
Side
HDL
mounting
illu
s
tration
.
[4]
HDL-64E
S2
and
S2.l
User's
Manua
l
Mounting
Base
/
VEL00002589
Ex. 2050-0007

INSTALLATION OVERVIEW
Top
Mounting
Fi
gure
4.
Top
HDL
mounting
illu
s
tration
.
[5]
HDL-64E
S2
and
S2.l
User's
Manua
l
Four
0.41
"
[10
.
3mm]
through
holes
for
top
mount
option
to
secure
the
H
DL
to
the
vehicle
.
VEL00002590
Ex. 2050-0008

INSTALLATION OVERVIEW
HDL-64E
S2
and
S2.l
User's
Manua
l
Wiring
The
sensor
comes
with
a
pre-wired
connector
,
wired
with
power
,
DB9
serial
and
standard
RJ45
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
posttive
polarity
.
THE
SENSOR
IS
RATED
ONLY
FOR
12
-16
VOL
TS
.
Any
voltage
applied
over
16
volts
could
damage
the
sensor.
The
sensor
draws
4-6
AMPS
during
normal
usage.
~
The
sensor
doesn't
have
a
power
switch.
It
spins
whenever
power
is
applied
.
Lockout Circuit.
The
sensor
has
a
loc
k
out
circuit
that
prevents
its
lasers
from
firing
until
it
achieves
appro
x
imately
300
RPMs
.
Ethernet.
This
standard
Ethernet
connector
is
designed
to
connect
to
a
standard
PC.
~
The
sensor
is
only
compatible
with
network
cards
that
have
either
MDI
or
AUTO
MDI
X ca
pability
.
Serial
Interface
RS-232
DB9.
Thi
ss
tandard
conne
c
tor
allows
fo
r a
firmware
update
to
be
applied
to
the
s
ensor
.
Velo
d
yne
may
relea
se
firmware
updates
from
time
to
time.
It
also
accepts
commands
to
change
the
RPM
of
the
unit
,
control
HFOV
,
change
t
he
unit's
IP
address
,
and
other
functions
described
later
in
this
manual.
Wiring
Diagram.
If
you
need
to
wire
your
own
connector
for
your
installation,
refer
to
the
wi
ring
diagram
in
Appendi
x B.
USAGE
The
sensor
needs
no
configuration
,
cal
i
bration,
or
other
setup
to
begin
producing
usable
data
.
Once
the
unit
is
mounted
and
wired
,
supplying
it
power
cau
ses
it
to
start
scanning
and
producing
data
packets
.
Use
the
Included
Point-cloud
Viewer
The
quickest
way
to
view
the
data
collected
as
an
image
is
to
use
the
included
Digital
Sensor
Recorder
(DSR)
.
DSR
is
Velodyne
's
point-cloud
processing
data
viewer
software
.
DSR
reads
in
the
packets
from
the
sensor
over
Ethernet
,
performs
the
necessary
ca
l
culations
to
determine
point
locations
and
then
plots
the
points
in
30
on
your
PC
monitor
.
You
can
observe
both
distan
ce
and
intensity
data
through
DSR.
If
you
have
never
used
the
s
en
s
or
before
,
this
is
the
recommended
starting
point.
For
more
on
installing
and
using
DSR
,
see
Appendi
x C.
De
v
elop
Your
Own
Application-specific
Point
-
cloud
Viewer
Many
us
er
s
elect
to
develop
their
own
application-
s
pe
c
ifi
c
point
cloud
tra
c
king
and
pl
o
tting
and/or
storage
sc
heme
,whi
ch
require
s
the
se
fundamental
s
tep
s:
1.
Establi
sh
communication
with
the
sensor
.
2.
Create
a
calibration
table
etth
er
from
the
calibration
data
inc
luded
in-
s
tream
from
the
se
nsor
or
from
the
i
ncl
uded
db
.x
ml
data
file
.
3.
Pa
r
se
the
packets
for
rotation
, bl
ock
,
di
s
tance
and
intensity
data
4.Ap
ply
th
ec
alibr
a
tion
fa
ct
o
rs
to
the
da
ta.
5.
Plot
or
store
the
data
as
needed.
[6]
VEL00002591
Ex. 2050-0009

USAGE
HDL-6
4 E
S2
and
S2.
1
User
's
Manua
l
The
following
provides
more
detail
on
each
of
the
above
steps
.
1.
Establish
communication
with
the
sensor
.
The
sensor
broadcasts
UDP
packets
.
By
using
a
network
monitoring
tool
,
such
as
Wireshark
,
you
can
capture
and
observe
the
packets
as
they
are
generated
by
the
sensor.
See
Appendix
E
for
the
UDP
packet
format.
The
default
sou
r
ce
IP
address
for
the
sensor
is
192.168.3.043
,
and
the
destination
IP
address
is
192.168.3.255.
To
change
these
IP
addresses
,
see
page
11.
2.
Create
an
internal
calibration
table
either
from
the
calibration
data
included
in-stream
from
the
sensor
or
from
the
included
db.xml
data
file
.
This
table
must
be
built
and
stored
internal
to
the
po
i
nt-cloud
processing
software.
The
easiest
and
most
reliable
way
to
build
the
calibration
table
is
by
reading
the
calibration
data
directly
from
the
UDP
data
packets
.A Matlab
example
of
reading
and
building
such
a
table
can
be
found
in
Appendix
D
and
on
the
CD
included
with
the
sensor
named
CALTABLEBUILD.m.
Alternatively
,
the
calibration
data
can
be
found
in
the
included
db.xml
file
found
on
the
CD
included
with
the
sensor.
A
description
of
the
calibration
data
is
shown
in
the
following
table
.
db.xml
Calibration
Parameters
Parameter
Unit
Description
Values
rotCorrection
degree
The
rotational
correction
angle
for
each
laser
,
Posnive
fac
t
ors
rotate
to
the
left
.
as
viewed
from
the
back
of
the
unit.
Negative
values
rotate
to
the
right.
vertCorrection
degree
The
verti
ca
l
corr
ection
angle
for
each
laser
,
Posnive
values
have
the
laser
as
viewed
from
the
back
of
the
unit.
pointing
up
.
Negative
values
have
the
laser
pointing
down.
distCorrection
cm
Far
distance
correction
of
each
laser
distance
Add
directly
to
the
distance
value
due
to
minor
las
er
parts'
variances
.
read
in
the
packet.
distCorrectionX
cm
C
lo
se
distance
correction
in
X
of
each
laser
due
to
minor
la
s
er
parts
variances
interpolated
with
far
distance
correction
then
applied
to
measurement
in
X.
distCorrectionY
cm
Close
distance
correction
in
Y
of
each
laser
due
to
minor
laser
parts
variances
interpolated
with
far
distance
corr
ection
then
applied
to
measu
r
ement
in
Y
vertOffsetcorrection
cm
The
height
of
each
laser
as
measured
from
One
fi
xe
d
va
l
ue
for
a
ll
upper
the
bottom
of
the
base.
block
l
ase
r
s.
Another
fi
x
ed
value
for
all
lower
block
l
asers
.
horizOffsetCorrection
cm
The
horizontal
offset
of
each
l
aser
Fi
x
ed
positive
or
negative
value
as
viewed
from
the
back
of
the
la
se
r.
for
all
lase
rs.
Ma
x
imum
Inten
s
ity
Va
lue
from
O
to
255
. Us
ually
255.
Minimum
lntensny
Value
from
O
to
255.
Usually
0.
Focal
Di
s
tance
Ma
x
imum
inten
sity
di
sta
nce
.
Focal
S
lope
The
control
intensity
amount.
The
ca
librati
on
table
,
once
assembled
,
co
ntain
s
64
in
sta
n
ces
of
the
ca
libration
va
lu
es
s
hown
in
the
table
abo
ve
to
i
nte
r
pret
the
p
ac
ket
d
ata
to
ca
lcul
ate
eac
h
point
's
po
s
ition
in
30
space
.
Us
e
th
e
fir
st
32
point
s
for
th
e
upp
er
block
a
nd
th
e
sec
ond
32
points
for
th
e
low
er
blo
ck
. The
rotational
info
found
in
the
packet
header
isus
ed
to
determine
the
packets
position
with
respe
ct
to
th
e
360°
hor
iz
ont
al
field
of
view.
[7]
V
EL
00002592
Ex. 2050-0010

USAGE
HDL-64E
S2
and
S2.1
User
's
Manua
l
3.
Parse
the
packets
for
rotation,
block,
distance
and
intensity
data
.
Each
sensor
's
LIFO
data
packet
has
a
1206
byte
payload
consist
in
g
of
12
bl
ocks
of
100
byte
firing
data
followed
by
6
bytes
of
calibration
and
other
information
pertaining
to
the
sensor.
Each
100
byte
record
contains
a
block
identifier,
then
a
rotational
value
followed
by
32
3-byte
combinations
that
report
on
each
laser
fired
for
the
block.
Two
bytes
report
distance
to
the
nearest
0.2
cm
,
and
the
remaining
byte
reports
intensity
on
a
scale
of
O
-255.
12
100
byte
records
exist,
therefore,
6
records
exist
for
each
block
in
each
packet.
For
more
on
packet
construction
,
see
Appendix
E.
4.
Apply
the
calibration
factors
to
the
data
.
Each
of
the
sensor's
lasers
is
fixed
with
respect
to
vertical
angle
and
offset
to
the
rotational
index
data
provided
in
each
packet.
For
each
data
point
issued
by
the
sensor
,
rotational
and
horizontal
correction
factors
must
be
applied
to
determine
the
point's
location
in
30
space
referred
to
by
the
return.
Intensity
and
distance
offsets
must
also
be
applied.
Each
sensor
comes
from
Velodyne
's
factory
calibrated
using
a
dual-point
calibration
methodology
,
explained
further
in
Appendix
F.
~
The
minimum
return
distance
for
the
sensor
is
approximately
3
feet
(0.9
meters).
Ignore
returns
closer
than
this.
~
A
file
on
the
CD
called
"
HDL
Source
Example"
shows
the
calculations
using
the
above
correction
factors
.
This
DSR
uses
this
code
to
~
determine
30
locations
of
sensor
data
points
.
5.
Plot
or
store
the
data
as
needed.
For
DSR,
the
point-cloud
data,
once
determined
,
is
plotted
onscreen.
The
source
to
do
this
can
be
found
on
the
CD
and
is
entitled
"
HDL
Plotting
Example
."
DSR
uses
OpenGL
to
do
its
pl
otting
.
You
may
also
want
to
s
tore
the
data
.
If
so,
it
may
be
useful
to
timestamp
the
data
so
it
can
be
referenced
and
coordinated
with
other
sensor
data
later
.
The
sensor
has
the
capab
ility
to
synchronize
its
data
with
GPS
precision
time
.
For
more
in
this
capability
,
see
page
11
.
Change
Run-Time
Parameters
The
sensor
has
several
run
-
time
parameters
that
can
be
changed
using
the
RS
-2
32
serial
port
.
For
all
commands
,
use
the
following
serial
parameters
:
•
Baud
9600
•
Parity:
None
•
Data
bits
:8
•
Stop
bits
: 1
All
s
erial
commands
,e
xc
ept
one
version
of
the
s
pin
rate
command,
store
data
in
the
sensor's
flash
memory.
Data
stored
in
fla
sh
memory
through
se
rial
command
s is
retained
during
firmware
update
s
or
po
wer
cycle
s.
The
sensor
has
no
echo
back
feature
,
so
no
serial
data
is
returned
from
the
sensor
.
Commands
can
be
sent
us
in
gat
erminal
program
or
by
using
batch
file
s
(e
.g
..
bat).
A
sample
.
bat
file
is
shown
below
.
Sample
Batch
File
(.
bat)
M
OD
E
COM3
:
9600
,N,8,
l
COPY
SERCM
D.tx
t COM3
Pause
Sample
SERCMD.txt
file
This
command
sets
the
spin
rate
to
300
RPM
and
stores
the
new
value
in
the
unit
's
flash
memory.
#HD
L
RP
M0
30
0$
[
8]
VEL00002593
Ex. 2050-0011

USAGE
HDL-64E
S2
and
S2.1
User
's
Manua
l
Available
commands
The
following
run-time
commands
are
available
w~h
the
sensor:
Command
Description
Parameters
#HDLRPMnnnn$
Set
spin
ra
te
from
300
to
1200
RPM
nnnn
is
an
integer
between
0300
and
1200
n
flash
memory
(default
is
600
RPM)
#HDLRPNnnnn$
Set
spin
rate
from
300
to
1200
RPM
nnnn
is
an
integer
between
0300
and
1200
in
RAM
(default
is
600
RPM)
#HDL1PA
s
ssssssssss
s
dddddddddddd$
Chan
ges
ource
and/or
de
s
tination
•
ss
s
ss
s
ssss
ss
is
the
sour
ce 12
-digit
IP
addre
ss
IP
address
•
dddddddddddd
is
the
des
t
ination
12-digit
IP
address
#H
DLFOVsssnnn$
Change
horizonta
l
Field
of
View
(HFOV)
•
sss
=
starting
angle
in
degrees;
sss
is
an
in
t
eger
between
000
and
360
•
nnn
=
ending
angle
in
d
egrees
;
nnn
is
an
integer
between
000
and
360
You
can
also
upload
calibration
data
from
db.xml
into
flash
memory
and
use
GPS
time
synchronization.
[9]
VEL00002594
Ex. 2050-0012

USAGE
HDL-64E
S2
and
S2.1
User
's
Manua
l
Control
Spin
Rate
Change
Spin
Rate
in
Flash
Memory
The
sensor
can
spin
at
rates
ranging
from
300
RPM
(5
Hz)
to
1200
RPM
(20
Hz)
.
The
default
is
600
RPM
(10
Hz)
.
Changing
the
spin
rate
does
not
change
the
data
rate
-
the
unit
sends
out
the
same
number
of
packets
(at
a
rate
of
·1.3
million
data
points
per
second)
regardless
of
its
spin
rate.
The
horizontal
image
resolution
increases
or
decreases
depending
on
rotation
speed
.
See
the
Angular
Resolution
section
found
in
Appendix
I
for
the
angular
resolution
values
for
various
spin
rates
.
To
control
the
sensor's
spin
rate,
issue
a
serial
command
of
the
case
sensitive
format
#HDLRPMnnnn$
where
nnnn
is
an
integer
between
0300
and
1200.
The
sensor
immediate
ly
adopts
the
new
spin
rate.
You
don
't
need
to
power
cycle
the
unit,
and
the
new
RPM
is
retained
with
future
power
cycles.
Change
Spin
Rate
in
RAM
Only
If
repeated
and
rapid
updates
to
the
RPM
are
needed
,
su
ch
as
f
or
synchronizing
multiple
sensors
controlled
by
a
cl
osed
loop
application
,
you
can
adjust
the
sensors
'
spin
rates
without
storing
the
new
RPM
in
flash
memory
(this
preserves
flash
memory
over
time)
.
To
control
the
sensor
's
spin
rate
in
RAM
only
,
issue
a
serial
command
of
the
case
sensit
i
ve
format
#HDLRPNnnnn$
where
nnnn
is
an
integer
between
0300
and
1200
.
The
sensor
immediately
adopts
the
new
spin
rate
.
You
shouldn
't
power
cycle
the
sensor
as
the
new
RPM
is
lost
with
future
power
cycles
,
which
returns
to
the
last
known
RPM
.
LimitHorizontal
FOV Da
ta
Collected
The
s
ensor
defaults
to
a
36
0°
s
urrounding
view
of
it
s
environment.
It
may
be
desirable
to
reduce
this
horizontal
Fi
eld
of
View
(HFOV)
and
,
hence
,
the
data
created.
To
limit
the
horizontal
FOV
,
issue
a
serial
command
of
the
case
sensitive
format
#HDLFOVsssnnn$
where:
•sss= s
tarting
angle
in
degrees
;
sss
is
an
integer
between
000
and
360
•
nnn
=
ending
angle
in
degree
s;
nnn
is
an
integer
between
000
and
360
The
HDL
un
it
immediately
ado
pts
the
new
HFOV
angle
s
withou
t
power
cy
c
ling
and
will
retain
the
new
HFOV
s
ettings
upon
power
c
ycle
.
~
Regardle
ss
of
the
FOV
setting
,
the
lasers
will
always
fire
at
the
full
360°
HFOV.
Limiting
the
HFOV
only
li
mits
data
transmission
to
the
HFOV
~
of
interest.
The
following
diag
r
am
show
s
the
HFOV
fr
om
the
top
view
of
the
sen
s
or.
:xamples
0 .itgree
i:bJt
from
here
C
ase
1:
FOV
o·
to
360°
FOV
command
:
#HDLFOV
0
00360$
Case
2:
FOV
o·
to
s
o·
FOV
c
ommand
:
#HDLFOVOOOOSO$
Ca
se
3:
FOV
-S0°
to
S
0°
FOV
command:
#HDLFOV
27
00SO$
Top
view
of
Sensor
[10]
VEL00002595
Ex. 2050-0013

USAGE
HDL-64E
S2
and
S2.1
User
's
Manua
l
DetineSensor
Memory
lP
Source
and
Destination
Addresses
The
HDL-64E
comes
wtth
the
following
default
IP
addresses:
•
Source
:
192.168
.
3.043
•
Destination:
192.168.3.255
To
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
address
Use
all
12
digits
to
set
an
IP
address.
Use
O
(zeros)
where
a
digit
would
be
absent.
For
example,
192168003043
is
the
correct
syntax
for
IP
address
192.168.3.43.
The
unit
must
be
power
cycled
to
adopt
the
new
IP
addresses
.
Upload
Calibration
Data
Sensors
use
the
db
.
xml
file
exclusively
for
calibration
data.
The
calibration
data
found
in
db
.
xml
can
be
uploaded
and
saved
to
the
untt
's
flash
memory
by
following
the
steps
outlined
below.
1.
Locate
the
files
HDLCAL.bat
,
loadcal.exe
,
and
db.xml
on
the
CD
and
copy
them
to
the
same
directory
on
your
PC
connected
to
the
sensor
.
2.
Edtt
HDLCAL
.
bat
to
ensure
the
copy
command
lists
the
right
COM
port
for
RS-232
communication
with
the
sensor
.
3.
Run
HDLCAL.bat
and
ensure
successful
completion
.
4.
The
sensor
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
in
the
data
packets
this
data
can
be
located
.
External
GPS Time
Synchronization
The
sensor
can
synchronize
its
data
with
precision
GPS-supplied
time
pulses
so
you
can
ascertain
the
ex
act
firing
time
of
each
laser
in
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
and
included
on
the
CD
.
Calculating
the
ex
act
firing
time
requires
a
GPS
receiver
generating
a
sync
pulse
and
the
$GPRMC
NMEA
record
over
a
dedicated
RS-232
serial
port.
The
output
from
the
GPS
receiver
is
connected
to
an
external
GPS
adaptor
box
supplied
by
Velodyne
that
conditions
the
signal
and
passes
tt
to
the
sensor
.
The
GPS
receiver
can
either
be
supplied
by
Velodyne
or
the
customer
can
adapt
their
GPS
receiver
to
provide
the
required
sync
pulse
and
NMEA
record
.
GPS
Receiver
Option
1:
Velodyne
Supplied
GPS
Receiver
Velodyne
provides
an
optional
pre
-
programmed
GPS
receiver
(HDL
-
64
-
GPS)
This
receiver
is
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
Supplied
GPS
Receiver
Y
ou
can
supply
and
c
onfigure
your
own
GPS
device
.
If
using
your
own
GPS
device
:
•
Issue
a
once-a-
s
econd
synchronization
pul
se,
typically
output
over
a
dedicated
wire
.
•
Configure
an
available
RS-232
serial
port
to
issue
a
once-a-second
$GPRMC
NMEA
record
.
No
other
output
can
be
ac
c
epted
from
the
GPS
device.
•
Issue
the
sync
pulse
and
NMEA
record
sequentially
.
•
The
s
yn
c
pul
sele
ngth
is not c
riti
c
al
(typi
ca
l
length
s are be
tween
20m
s a
nd
2
00m
s)
•S
tart
th
e $
GPR
MC
re
cord
be
tw
ee
n
50
ms a
nd
5
00m
sa
ft
er
th
ee
nd
of
th
e
syn
c
pul
se.
•
Configure
the
$GPRMC
record
eithe
r
in
the
hhmmss
or
hhmmss
.s
format.
[11]
VEL00002596
Ex. 2050-0014

USAGE
HDL-6
4 E
S2
and
S2.
1
User's
Manua
l
~
The
image
s
below
show
the
GPS
adaptor
box
,
included
with
the
HDL-64E
,
and
optional
GPS
receiver.
GPSEQUIPMENT
GPS
Adaptor
Box
Mod
el N
o.
H
DL
-64-A
DAP
T
(Included)
GPS
Ad
aptor
Bo
x F
ront
&
Back
View
DB-9
F
Connect
to
Host
Computer
Serial
1.
000
(2 PLCS.)
+
Port
DB-9
M
Connect
to
Interface
Cable
from
HDL-64E
Unit
1----
2.
750
----1
-- t- -
1.0.
00
.086
0 _0 .
00
.188
(4 PLCS.)
0.750 (2
PLCS
.)
--+
0_
750
(2
P
LCS
_)
1_
000
(2
PLCS
_) (
::,,~
- -
---~
[12]
1,376 1.001
#
2
3
4
5
6
7
8
COLOR
Red
Bl
ack
Ye
l
low
Red
Bl
ac
k
Whit
e
Br
ow
n
Gree
n
3.000
0_
250
(4 Pl.CS.)
GPS
Receiver
Mode
l
No
.
H
DL
-64
-G
PS
(Optional)
SIGNAL
NAME
+12V
DCPower
Powe
r Ground
I
PP
S
(pos
iti
ve
edg
e onl
y)
Vin (+5V)
Grou
nd
Tr
ans
mi
t Data
Grou
nd
(D
rain Wi
re
)
Rece
ive
Da
ta
i--
2.390/2500
--i
---
------
~---
------
-
1-
-----
4.
000
-----
--I
VEL00002597
Ex. 2050-0015

USAGE
HDL-6
4 E
S2
and
S2.
1
User
's
Manua
l
Packet
Format
and
Status
Byte
for GPS Time
Stamping
The
6
bytes
at
the
end
of
the
data
packet
report
GPS
timing
and
synchronization
data
.
For
every
packet
,
the
last
6
bytes
are
formatted
as
follows:
Timestamp
Bytes
in
Reverse
Order
in
Microseconds
Bytes
Descr
iption
Notes
4
GPS
timestamp
32
bit
unsigned
integer
timestamp.
This
value
represents
microseconds
from
the
top
of
the
hour
to
the
first
laser
firing
in
the
packet.
1
Status
Type
8
bit
ASCII
status
character
as
described
in
Append
ix
E.
The
status
byte
rotates
through
many
kinds
of
sensor
information.
1
Status
Value
8bit
data
as
described
in
Appendix
E.
Within
the
GPS
status
byte
,
there
are
4
GPS
status
indicators
:
• 0:
no
GPS
connection
.
•
A:
both
PPS
and
GPS
command
have
signal.
•
V:
only
GPS
command
signal
,
no
PPS.
•
P:
only
PPS
signal,
no
GPS
time
command.
Time
Stamping
Accuracy
Rules
The
following
rules
and
subsequent
accuracy
apply
for
GPS
timestamps:
GPS
Connection
Timestamp
Info
Accuracy
Notes
GPS
i
sn
't
connected
The
sensor
starts
running
on
Expect
a
drift
of
about
5
The
sensor
clock
does
not
correct
(GPS
Sta
tu
s
0)
its
own
clock
starting
at
midnight
seconds/day
for
leap
years.
See
Appendix
E
for
Jan
1
2000
.
This
date
and
time
data
more
information.
is
reflected
in
the
H,
M, S, D, N,
and
Y
data
values
.
GPS
is
connected
The
H, M, S,D, N,
and
Y
data
values
GPS
time
s
ynching
runs
in
are
obtained
from
the
$GPRMC
one
of
two
modes
:
NM
EA
record.
•
The
GPS
has
an
in
ternal
clock
that
runs
for
several
weeks
that
is
used
first.
The
accuracy
is
that
of
the
GPS
device
employed
.
•
When
the
GPS
ach
i
eves
lock
,
the
sensor
clock
is
then
within
+/-50µs
of
the
co
rrect
time
at
all
times
.
GPS
is
disconnected
T
he
sensor
continues
to
run
on
Ex
pect
drift
of
about
5
seconds/day
after
being
connected
it
s
own
clock.
Laser
Firing
Sequence
and Timing
If
the
GPS
time
s
tamp
feature
is
used
,
it
can
be
useful
to
determine
the
ex
act
firing
time
for
each
laser
so
as
to
properly
time-align
the
sensor
point
cloud
with
other
data
so
urces
.
The
upp
er
block
and
low
er
blo
ck
co
llect
distance
points
s
imultaneously
,
with
each
block
issuing
one
laser
pul
se
at
a
time.
That
is
,
each
upp
er
blo
ck
l
aser
fires
in
seque
n
ce
and
in
unison
with
a
la
ser
from
the
l
ower
blo
ck.
[ 13]
V
EL
00002598
Ex. 2050-0016

USAGE
HDL-64E
S2
and
S2.1
User
's
Manua
l
Lasers
are
numbered
sequentially
starting
with
O
for
the
first
lower
block
laser
to
31
for
the
last
lower
block
laser;
and
32
for
the
first
upper
block
laser
to
63
for
the
last
upper
block
laser.
For
example
,
laser
32
fires
simultaneously
with
laser
0,
l
aser
33
fires
with
laser
1,
and
so
on.
The
sensor
has
an
equal
number
of
upper
and
lower
block
returns.
Hence,
when
interpreting
the
delay
table
,
each
sequential
pair
of
data
blocks
represents
the
upper
and
lower
block
respect
ively
.
Each
upper
and
lower
block
data
pair
in
the
Ethernet
packet
has
the
same
delay
value.
The
first
firing
of
a
laser
pair
occurs
419.3
ps
after
the
issuance
of
the
fire
command.
Si
x firi
ngs
of
each
block
takes
139
ps
and
then
the
collected
data
is
transmitted.
It
takes
100
µs
to
transmit
the
entire
1248
byte
Ethernet
packet
This
is
equal
to
12
.
48
Bytes
/
ps
and
0.
080128
µs/Byte
.
See
Appendix
Efor
more
information
.
A
timing
table,
shown
in
Appendix
G,
shows
how
much
time
elapses
between
the
actual
capturing
of a
distance
point
and
when
that
point
is
output
from
the
device.
By
registering
the
event
of
the
Ethernet
data
cap
ture
,
you
can
calculate
back
in
time
the
exact
time
at
which
any
particular
distance
point
was
captured
.
FIRMWARE UPDATE
From
time
to
time
Velodyne
issues
firmware
updates.
To
update
the
sensor's
firmware:
1.
Obtain
the
update
file
from
Velodyne.
2.
Connect
the
wiring
harness
RS-232
cable
to
a
standard
Windows
compatible
PC
or
laptop
serial
port
.
3.
Power
up
the
sensor.
4.
Execute
the
update
file
;
the
screen
below
appears.
Veladyne
HDL
Software
Update
rve1odyne
Velodyne
HDL
Software
Update
1.
1
Copyright
[
c)
2007
VelodyneAcoustics,
Inc
.
Update
Close
Up
da
te
Status
-----------------
Select
port
and
pre
ss
Update.
Figure
5.
HDL
software
update
screen
cap
ture
.
5.
Select
the
appropriate
COM
port
.
6.
Click
Update
_
7.
The
firmware
is
uplo
ade
d
and
check
s
umm
ed
before
it
is
applied
to
th
e
flash
memory
inside
th
e
sensor.
If
the
checksum
is
corrupted
,
no
update
occurs
.
This
protects
the
sensor
in
the
event
of
power
or
data
loss
during
the
update
.
• If
the
update
is
successfu
l,
the
sensor
begins
to
spin
down
for a
few
seconds
and
then
powers
back
up
w~h
the
new
firmware
running
.
•
If
the
update
is
not
s
uc
c
essful
,
try
the
update
several
times
before
seeking
assistance
from
Velodyne
.
[ 14]
VEL00002599
Ex. 2050-0017

<
m
r
0
0
0
0
N
(j)
0
0
(J1
8.00
)03.2
]
10.2
4
[260.
2)
l.70
[4
3.2
]
8.00
(
203.2
)
7.00
[
177.8
)
4.50
[
114.3
]
6.00
[
152.4
]
08
.80
[
223.5
]
FOU
R
<1>
.41
[
10
.3]
THRU
FOR
TOP
MOUNT
OPTION
7.00
[
177.8]
TWO
M8-1.25X12MM
DEEP
MOU
NT
I
NG
PO
I
NTS
(2
PER
SI
DE
FOR
A
TOT
AL
OF
8)
.83
[21
]
I
SOMETR
IC VI
EW
1.93
...........
___._
____,__,
___
___._
[ [49)
6.00
[
152.4
)
.83
(21
]
Ex. 2050-0018

<
m
r
0
0
0
0
N
(j)
0
....,,,
HYBRID PLUG
RJ45
CONNECT
TO HDL-64E
LENGTH
CONNECTOR~
POWER
CONNECTOR
--=8------
9"1:Jl==[M
====<)ill]_______,
PIN 1
a.!
I
alll+
I aJII
......
RNI I EIH+ WIii'
6 EIH- a.JI
I
PUlllll!!R
I
_,
PUlllll!!R
I
111:
4
Na
WIRING DIAGRAM
I
4
I
Harting
Technology
Group
.
Metal
Version
,
Standard
Stra
i
ght
Style
Model
No.
10-12-005-2001
,30 m 12
In
0.6 m 24
In
Ex. 2050-0019

APPENDIX
C:
DIGITAL
SENSOR
RECORDER
(DSR)
HDL-64E
S2
and
S2.1
User's
Man11a'
Digital
Sensor
Recorder
(DSR)
DSR
is
a
3D
point-cloud
visualization
software
program
designed
for
use
with
the
sensor
.
This
software
is
an
"
out
of
the
bo
x"
tool
for
the
rendering
and
recording
of
point
cloud
data
from
the
HDL
unit.
You
can
develop
visualization
software
using
the
DSR
as
a
reference
platform
.A
code
sn
i
ppet
is
provided
on
the
CD
to
aid
in
understanding
the
methods
at
which
DSR
parses
the
data
points
generated
by
the
HDL
sensor
.
See
page
20
for
more
information.
Install
To
install
the
DSR
on
your
computer
:
1.
Locate
the
DSR
executable
program
on
the
provided
CD
.
2.
Double-click
this
DSR
ex
ecutable
file
to
begin
the
installat
i
on
onto
a
computer
connected
to
the
senso
r.
We
r
ecommend
that
you
use
the
default
settings
during
the
installation
.
3.
Copy
the
db
.x
ml
file
supplied
with
the
sensor
into
the
s
ame
directory
as
the
DSR
ex
ecutable
(defaults
to
c:
lpro
gram
files\
Digital
Sensor
Recorder)
.
You
may
want
to
rename
the
existi
ng
default
db
.x
ml
that
comes
with
the
DSR
in
s
tall.
~
Failure
to
use
the
calibration
db.
x
ml
file
supplied
wrth
your
sensor
will
result
in
an
inaccurate
point
cloud
rendering
in
DSR.
Calibrate
The
db
.x
ml
file
provided
with
the
s
en
sor
contain
s
corre
c
tion
fa
c
tors
for
the
proper
alignment
of
the
point
cloud
inf
or
mation
gathered
for
e
ac
h
la
ser
.
When
implemented
properly
,
the
image
viewable
from
the
DSR
is
calibrated
to
provide
an
ac
c
urate
visual
representation
of
the
environment
in
which
the
se
ns
or
is
be
i
ng
us
ed
.
Al
so
use
the
se
calibration
fa
c
tor
s
and
equations
in
any
program
us
i
ng
the
data
generat
ed
by
the
unit.
Live
Playback
For
live
playba
ck:
1.
Secure
and
power
up
the
sensor
so
that
it
is
s
pinni
ng
.
2.
Conne
ct
the
RJ45
Ethernet
conne
ctor to your
ho
st
computer
's
networ
k
co
nnection
.Y
ou
may
wi
sh
to
u
se
aut
o D
NS
setting
s
for
yo
ur
computers
network
configuration.
3.
Open
DSR
from
your
desktop
icon
created
during
the
in
s
tallation
.
DSR
des.op
<oo
11
@
11
4. S
elect
Option
s
from
the
menu
.
5. S
el
e
ct
th
e
proper
input
de
vic
e.
6.
Go
to
Options
again
.
7.
De
select
the
Show
Ground
Plane
option
.
(Leave
this
feature
off
for
the
time
being
or
until
the
ground
plane
h
as
be
en
prope
r
ly
a
dju
ste
d)
.
8.
(Optional)
Go
to
Option
s>
Propertie
s
to
c
hange
the
individual
s
ettings
for
ea
ch
LA
S
ER
channel.
9.
Provided
th
atyo
ur
co
mputer
is
now
r
ece
ivin
gdatapac
ket
s,
cli
ck
th
e
Refre
sh
butt
ontos
tart
live
viewin
g of ap
oi
ntc
loud
.
Th
e
initi
al
ima
ge
is
of
a
dir
ec
tly
ove
rh
ea
d
perspec
tiv
e.
See
page
19
for
mou
se
a
nd
key
co
mm
a
nd
s u
se
dto ma
nipul
ate
th
e
30
im
age
within
th
e
vi
ewer.
REFRE
SH
button
=
~
The
ima
ge
can
be
ma
nipulated
in
all
dire
c
ti
ons
and
b
eco
me
dis
o
rienting
.
If
you
lose
per
s
pe
c
tive
, s
imply
pr
ess
F1
to
return
to
the
or
ig
in
al
view.
[17]
VEL00002602
Ex. 2050-0020
This manual suits for next models
1
Table of contents
Other Velodyne Security Sensor manuals
Popular Security Sensor manuals by other brands

B.E.G.
B.E.G. LUXOMAT LC-Click 140 Installation and operation instruction

Ecco
Ecco Reflex 7160 Series Installation and operation instructions

Eaton
Eaton All-Pro MS180BT instruction manual

Rivers Edge
Rivers Edge GRIP RAIL operating manual

Salto
Salto IQ2.0 installation guide

Siemens
Siemens OH110 Technical manual