H
D
L
-
64
E
S2
and
S2.1
U
s
e
r
’
s
Ma nua
l
I N S TA L L AT I O N O V E R V I E W
The sensor is only compatible with network cards that
have
either
MDI
or
U
O
MDIX
capabilit
.
Lockout Circuit. The sensor has
a lockout circuit that
prevents
its
lasers
from
firing
until
it
achieves
approximately 300 RPMs.
Ethernet. This standard Ethernet connector is designed
to
connect
to
a
standard
PC.
The s
ensor doesn’t have a power switch. It spins whenever
power
is
applied.
Power. Connect the red and black wires to vehicle power.
Be
sure
red
is
positive
polarit
.
THE
SENSOR
IS
R
TED ONLY FOR
12
-
16
VOLTS. Any voltage applied over 16 volts could damage the sensor. The sensor draws 4-6 AMPS during normal usage.
W
i
r
i
n
g
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.
Serial Inter
ace RS-232 DB9. This standard connector
allows
for
a
firmware
update
to
be
applied
to
the
sensor.
elodyne may
release
firmware updates from time to time. It also accepts commands to change the RPM of the unit, control HFOV, change the unit’s IP address,
and other functions described later in this manual.
iring Diagram. If you need to wire your own connector
for
your
installation,
refer
to
the
wiring
diagram
in
ppendix B.
A
G
E
The sensor needs no configuration, calibration, or other
setup
to
begin
producing
usable
data.
Once
the
unit is mounted and wired,
supplyin
it power causes it to start scanning and producing data packets.
Use the
I
n
c
l
ud
e
d
P
o
i
n
t
-
c
l
o
ud
V
i
e
w
e
r
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 calculations to determine
point locations and then plots the points in 3D on your PC monitor. You can observe both distance and intensity data through DSR. If you
have never used the sensor before, this is the recommended starting point. For more on installing and using DSR, see Appendix C.
Develop
our Own
A
pp
l
i
c
a
t
i
o
n
-
s
p
e
c
i
f
i
c
P
o
i
n
t
-
c
l
o
ud
V
i
e
w
e
r
Many users elect to develop their own application-specific point cloud tracking and plotting and/or storage scheme, which requires these
fundamental steps:
1. Establish communication with the sensor.
2. Create a calibration table either from the calibration data included in-stream from the sensor or from the included db.xml data file.
3. Parse the packets for rotation, block, distance and intensity data
4. Apply the calibration factors to the data.
5.
Plot or store the data as needed.
[ 6
]
Manymanuals.com
Manymanuals.de
Manymanuals.fr
Manymanuals.it
Manymanuals.pl
Manymanuals.cz
Manymanuals.es
Manymanuals-pt.com
Komentarze do niniejszej Instrukcji