Define Sensor Memory IP Source and Destination Addresses
The HDL- 64E comes with 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 0 (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 unit’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. Edit 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 exact 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 exact 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 it 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
You can supply and configure your own GPS device. If using your own GPS device:
• Issue a once-a-second synchronization pulse, 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 accepted
from the GPS device.
• Issue the sync pulse and NMEA record sequentially.
• The sync pulse length is not critical (typical lengths are between 20ms and 200ms)
• Start the $GPRMC record between 50ms and 500ms after the end of the sync pulse.
• Configure the $GPRMC record either in the hhmmss or hhmmss.s format.
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HDL-64E S2 and S2.1 User’s Manual
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