Velodyne VLP-16 Lidar Sensor Manuals

Manuals and User Guides for Velodyne VLP-16 Lidar Sensor. We have 1 Velodyne VLP-16 Lidar Sensor manual available for free PDF download: User Manual

Velodyne VLP-16 User Manual (138 pages)

Brand: Velodyne | Category: Accessories | Size: 20 MB

Limited Warranty
2
Revision History
3
Table of Contents
4
Chapter 1 • about this Manual

16
- Manual Scope
  16
- Prerequisite Knowledge
  16
- Audience
  16
- Document Conventions
  16
- Table 1-1 Document Conventions
  16
- Figure 2-1 Example 3D Sensing System
  18
- Overview
  18
Chapter 2 • VLP-16 Overview

19
- Product Models
  19
- Time of Flight
  19
- Data Interpretation Requirements
  19
- Table 2-1 3D Sensing System Components
  19
Chapter 3 • Safety Precautions

20
- Warning and Caution Definitions
  20
  - Caution Hazard Alerts
    20
- Safety Overview
  20
  - Electrical Safety
    20
  - Mechanical Safety
    20
  - Laser Safety
    21
  - Figure 3-1 Class 1 Laser
    21
Chapter 4 • Unboxing & Verification

22
- What's in the Box
  22
  - Variants
    22
- Verification Procedure
  22
Chapter 5 • Installation & Integration

29
- Overview
  29
- Mounting
  29
- Encapsulation, Solar Hats, and Ventilation
  30
- Connections
  30
  - Figure 5-1 Mounting Details
    30
  - Integrated Cable and Interface Box
    31
  - Operation Without an Interface Box
    31
  - Power
    31
Chapter 6 • Key Features

32
Chapter 7 • Sensor Inputs

39
Chapter 8 • Sensor Operation

49
- Firing Sequence
  49
- Throughput Calculations
  49
  - Data Packet Rate
    49
  - Figure 8-1 Firing Sequence Timing
    49
  - Position Packet Rate
    50
  - Total Packet Rate
    50
  - Laser Measurements Per Second
    50
    
    Dual Return Mode
    50
    
    Single Return Mode (Strongest, Last)
    50
- Rotation Speed (RPM)
  50
Chapter 9 • Sensor Data

52
Chapter 10 • Sensor Communication

68
- Web Interface
  68
- Sensor Control with Curl
  76
  - Using Curl with Velodyne Lidar Sensors
    76
  - Curl Command Parameters
    76
  - Command Line Curl Examples
    77
    
    Get Diagnostic Data
    77
    
    Conversion Formulas
    78
    
    Interpret Diagnostic Data
    78
    
    Top:hv
    78
    
    Top:lm20_Temp
    79
    
    Bot:i_Out
    80
    
    Bot:lm20_Temp
    80
    
    Bot:pwr_1_2V
    80
    
    Top:pwr_Vccint
    80
    
    Bot:pwr_1_25V
    81
    
    Get Sensor Status
    82
    
    Get Snapshot
    82
    
    Set Motor RPM
    82
    
    Network Configuration
    83
    
    Reset System
    83
    
    Save Configuration
    83
    
    Set Field of View
    83
    
    Set Host (Destination) IP Address
    83
    
    Set Return Type (Strongest, Last, Dual)
    83
    
    Set Data Port
    84
    
    Set DHCP
    84
    
    Set Gateway
    84
    
    Set Netmask
    84
    
    Set Network (Sensor) IP Address
    84
    
    Set Telemetry Port
    84
  - Curl Example Using Python
    84
Chapter 11 • Troubleshooting

87
- Troubleshooting Process
  87
  - Table 11-1 Common Problems and Resolutions
    87
  - Turned DHCP On, Lost Contact with Sensor
    88
- Service and Maintenance
  89
  - Fuse Replacement
    89
- Technical Support
  90
  - Purchased through a Distributor
    90
  - Factory Support
    90
  - Support Desk
    90
- Return Merchandise Authorization (RMA)
  90
Appendix A • Sensor Specifications

91
Appendix B • Firmware Update

92
- Firmware Update Procedure
  92
Appendix C • Mechanical Diagrams

100
Appendix D • Wiring Diagrams

108
Appendix E • Veloview

111
Appendix F • Laser Pulse

119
- The Semiconductor Laser Diode
  119
- Figure F-1 Laser Diode Concept
  119
- Laser Patterns
  120
  - Laser Spot Pattern
    120
  - Laser Scan Pattern
    120
  - Figure F-2 Laser Spot Shape
    120
  - Beam Divergence
    121
  - Figure F-3 Laser Spots on a Wall
    121
- Table F-1 VLP-16 Beam Divergence
  122
- Table F-2 Dimensions of VLP-16 Laser Spots at Distance
  122
Appendix G • Time Synchronization

123
- Introduction
  123
- Background
  123
- Figure G-1 Web Interface PPS and GPS Qualifier Option Selections
  123
- PPS Qualifier
  124
  - Require GPS Receiver Valid
    124
  - Require PPS Lock
    124
  - Figure G-2 Top of Hour Counters
    124
  - Delay
    125
- GPS Qualifier
  125
- Application
  125
- Logic Tables
  125
- Figure G-3 Sub-Second Counter Behavior
  125
- Figure G-4 Minutes and Seconds Counter Behavior
  126
Appendix H • Phase Lock

127
- Phase Lock
  127
- Field of View
  130
- Figure H-5 Sensor Data Shadows
  130
Appendix I • Sensor Care

131
- Cleaning the Sensor
  131
  - Required Materials
    131
  - Determine Method of Cleaning
    132
  - Method One
    132
  - Method Two
    132
  - Method Three
    132
  - Method Four
    133
Appendix J • Network Configuration

134
- Ethernet and Network Setup
  134
  - Defaults
    134
  - Establishing Communication Via Ethernet
    134
- Network Considerations
  135

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Velodyne VLP-16 Lidar Sensor Manuals

Velodyne VLP-16 User Manual (138 pages)

Table of Contents

Chapter 1 • about this Manual

Chapter 2 • VLP-16 Overview

Chapter 3 • Safety Precautions

Chapter 4 • Unboxing & Verification

Chapter 5 • Installation & Integration

Chapter 6 • Key Features

Chapter 7 • Sensor Inputs

Chapter 8 • Sensor Operation

Chapter 9 • Sensor Data

Chapter 10 • Sensor Communication

Chapter 11 • Troubleshooting

Appendix A • Sensor Specifications

Appendix B • Firmware Update

Appendix C • Mechanical Diagrams

Appendix D • Wiring Diagrams

Appendix E • Veloview

Appendix F • Laser Pulse

Appendix G • Time Synchronization

Appendix H • Phase Lock

Appendix I • Sensor Care

Appendix J • Network Configuration

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