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S2
and
S2.1
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Ma nua
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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
ngular Resolution section found in
ppendix
I
for
the
angular
resolution
values
for
various
spin
rates.
o 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 immediately 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, such as for synchronizing multiple sensors controlled by a closed loop
application, you can adjust the sensors’ spin rates without storing the new RPM in flash memory (this preserves flash memory over time).
o control the sensor’s spin rate in RAM onl
, issue a
serial
command
of
the
case
sensitive
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 RP
is lost with future power cycles, which returns to the last known RPM.
L
i
m
i
t
H
o
r
i
z
o
n
t
a
l
FOV
Data C
o
ll
e
c
t
e
d
The sensor defaults to a 360° surrounding view of its environment. It may be desirable to reduce this horizontal Field of View (HFOV) and,
hence, the data created.
o limit the horizontal FO
, issue a serial command of
the
case
sensitive
format
#HDLFOVsssnnn$
where:
• sss = starting angle in degrees; sss is an integer between 000 and 360
• nnn = ending angle in degrees; nnn is an integer between 000 and 360
The HDL unit immediately adopts
the new HFOV angles
without
power
cycling
and
will
retain
the
new
HFOV settings upon power
cycle.
Regardless of the FOV setting, the lasers will always
fire
at
the
full
360°
HFO
.
Limiting
the
HFOV
only
limits data transmission
to
the
HFO
of interest.
The following diagram shows the HFOV from the top
view
of
the
sensor.
Case 1: FOV 0° to 360°
FOV command: #HDLFOV000360$
Case 2: FOV 0° to 90°
FOV command: #HDLFOV000090$
Case 3: FOV -90° to 90°
FOV command: #HDLFOV270090$
op view of Sensor
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