Velodyne Acoustics HDL-64E S2 - Manual (Page 9)

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 positive polarity. THE SENSOR IS RATED ONLY FOR 12 - 16
VOLTS. 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 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 sensor is only compatible with network cards that have either MDI or AUTO MDIX capability.
Serial Interface RS-232 DB9. This standard connector allows for a firmware update to be applied to the sensor. Velodyne 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.
Wiring Diagram. If you need to wire your own connector for your installation, refer to the wiring diagram in Appendix B.
The sensor needs no configuration, calibration, or other setup to begin producing usable data. Once the unit is mounted and wired, supplying
it power causes 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 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 Your Own Application-specific Point-cloud Viewer
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.
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HDL-64E S2 and S2.1 User’s Manual
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