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Velodyne-LiDAR-VLP-16-User-Manual.pdf
Chapter 1 • About This Manual
1.1 Manual Scope
1.2 Prerequisite Knowledge
1.3 Audience
1.4 Document Conventions
Chapter 2 • VLP-16 Overview
2.1 Overview
2.2 Product Models
2.3 Time of Flight
2.4 Data Interpretation Requirements
Chapter 3 • Safety Precautions
3.1 Warning and Caution Definitions
3.1.1 Caution Hazard Alerts
3.2 Safety Overview
3.2.1 Electrical Safety
3.2.2 Mechanical Safety
3.2.3 Laser Safety
Chapter 4 • Unboxing & Verification
4.1 What’s in the Box?
4.1.1 Variants
4.2 Verification Procedure
4.2.1 Network Setup in Isolation
4.2.2 Access Sensor’s Web Interface
4.2.3 Visualize Live Sensor Data with VeloView
4.2.3.1 VeloView Operation
Chapter 5 • Installation & Integration
5.1 Overview
5.2 Mounting
5.3 Encapsulation, Solar Hats, and Ventilation
5.4 Connections
5.4.1 Integrated Cable and Interface Box
5.4.2 Operation Without an Interface Box
5.4.3 Power
Chapter 6 • Key Features
6.1 Calibrated Reflectivity
6.2 Laser Return Modes
6.2.1 Single Return Modes: Strongest, Last
6.2.2 Multiple Returns
6.2.3 Dual Return Mode
6.3 Phase Locking Multiple Sensors
Chapter 7 • Sensor Inputs
7.1 Power Requirements
7.2 Interface Box Signals
7.3 Ethernet Interface
7.4 GPS, Pulse Per Second (PPS) and NMEA GPRMC Message
7.4.1 GPS Input Signals
7.4.2 Electrical Requirements
7.4.3 Timing and Polarity Requirements
7.4.4 GPS Connection Scenarios
7.4.4.1 Connecting a Garmin 18x LVC GPS Receiver
7.4.4.2 Connecting to a computer's serial port
7.4.4.3 Connecting to a microcomputer’s UART
7.4.5 NMEA Message Formats
7.4.5.1 Pre-NMEA Version 2.3 Message Format
7.4.5.2 NMEA Version 2.3 Message Format
7.4.6 Accepting NMEA Messages Via Ethernet
Chapter 8 • Sensor Operation
8.1 Firing Sequence
8.2 Throughput Calculations
8.2.1 Data Packet Rate
8.2.2 Position Packet Rate
8.2.3 Total Packet Rate
8.2.4 Laser Measurements Per Second
8.2.4.1 Single Return Mode (Strongest, Last)
8.2.4.2 Dual Return Mode
8.3 Rotation Speed (RPM)
8.3.1 Horizontal Angular (Azimuth) Resolution
8.3.2 Rotation Speed Fluctuation and Point Density
Chapter 9 • Sensor Data
9.1 Sensor Origin and Frame of Reference
9.2 Calculating X,Y,Z Coordinates from Collected Spherical Data
9.3 Packet Types and Definitions
9.3.1 Definitions
9.3.1.1 Firing Sequence
9.3.1.2 Laser Channel
9.3.1.3 Data Point
9.3.1.4 Azimuth
9.3.1.5 Data Block
9.3.1.6 Time Stamp
9.3.1.7 Factory Bytes
9.3.2 Data Packet Structure
9.3.3 Position Packet Structure
9.4 Discreet Point Timing Calculation
9.5 Precision Azimuth Calculation
9.6 Converting PCAP Files to Point Cloud Formats
Chapter 10 • Sensor Communication
10.1 Web Interface
10.1.1 Configuration Screen
10.1.1.1 MAC Address
10.1.1.2 Correctly reset MAC Address to Factory MAC Address
10.1.2 System Screen
10.1.3 Info Screen
10.1.4 Diagnostics Screen
10.2 Sensor Control with curl
10.2.1 Using curl with Velodyne LiDAR Sensors
10.2.2 curl Command Parameters
10.2.3 Command Line curl Examples
10.2.3.1 Get Diagnostic Data
10.2.3.2 Conversion Formulas
10.2.3.3 Interpret Diagnostic Data
10.2.3.3.1 top:hv
10.2.3.3.2 top:lm20_temp
10.2.3.3.3 top:pwr_5v
10.2.3.3.4 top:pwr_2_5v
10.2.3.3.5 top:pwr_3_3v
10.2.3.3.6 top:pwr_5v_raw
10.2.3.3.7 top:pwr_vccint
10.2.3.3.8 bot:i_out
10.2.3.3.9 bot:lm20_temp
10.2.3.3.10 bot:pwr_1_2v
10.2.3.3.11 bot:pwr_1_25v
10.2.3.3.12 bot:pwr_2_5v
10.2.3.3.13 bot:pwr_3_3v
10.2.3.3.14 bot:pwr_5v
10.2.3.3.15 bot:pwr_v_in
10.2.3.4 Get Snapshot
10.2.3.5 Get Sensor Status
10.2.3.6 Set Motor RPM
10.2.3.7 Set Field of View
10.2.3.8 Set Return Type (Strongest, Last, Dual)
10.2.3.9 Save Configuration
10.2.3.10 Reset System
10.2.3.11 Network Configuration
10.2.3.12 Set Host (Destination) IP Address
10.2.3.13 Set Data Port
10.2.3.14 Set Telemetry Port
10.2.3.15 Set Network (Sensor) IP Address
10.2.3.16 Set Netmask
10.2.3.17 Set Gateway
10.2.3.18 Set DHCP
10.2.4 curl Example using Python
Chapter 11 • Troubleshooting
11.1 Troubleshooting Process
11.1.1 Turned DHCP On, Lost Contact With Sensor
11.2 Service and Maintenance
11.2.1 Fuse Replacement
11.3 Technical Support
11.3.1 Purchased through a Distributor
11.3.2 Factory Support
11.3.3 Support Desk
11.4 Return Merchandise Authorization (RMA)
Appendix A • Sensor Specifications
Appendix B • Firmware Update
B.1 Firmware Update Procedure
B.1.1 Special Procedure to Update Firmware
B.1.2 If An Error Occurs
Appendix C • Mechanical Diagrams
C.1 Interface Box Mechanical Drawing
C.2 VLP-16 and Puck LITE Mechanical Drawing
C.3 VLP-16 and Puck LITE Optical Drawing
C.4 VLP-16 and Puck LITE Optical Keep Out Zone
C.5 Puck Hi-Res Mechanical Drawing
C.6 Puck Hi-Res Optical Drawing
C.7 Puck Hi-Res Optical Keep Out Zone
Appendix D • Wiring Diagrams
D.1 Interface Box Wiring Diagram
D.2 Interface Box Schematic
Appendix E • VeloView
E.1 Features
E.2 Install VeloView
E.3 Visualize Streaming Sensor Data
E.4 Capture Streaming Sensor Data to PCAP File
E.5 Replay Captured Sensor Data from PCAP File
Appendix F • Laser Pulse
F.1 The Semiconductor Laser Diode
F.2 Laser Patterns
F.2.1 Laser Spot Pattern
F.2.2 Laser Scan Pattern
F.2.3 Beam Divergence
Appendix G • Time Synchronization
G.1 Introduction
G.2 Background
G.3 PPS Qualifier
G.3.1 Require GPS Receiver Valid
G.3.2 Require PPS Lock
G.3.3 Delay
G.4 GPS Qualifier
G.5 Application
G.6 Logic Tables
Appendix H • Phase Lock
H.1 Phase Lock
H.1.1 Setting the Phase Lock
H.1.2 Application Scenarios
H.2 Field of View
Appendix I • Sensor Care
I.1 Cleaning the Sensor
I.1.1 Required Materials
I.1.2 Determine Method of Cleaning
I.1.3 Method One
I.1.4 Method Two
I.1.5 Method Three
I.1.6 Method Four
Appendix J • Network Configuration
J.1 Ethernet and Network Setup
J.1.1 Defaults
J.1.2 Establishing Communication via Ethernet
J.2 Network Considerations
J.2.1 Throughput Requirements
J.2.2 Single Sensor Transmitting to a Broadcast Address
J.2.3 Multiple Sensors in the Same Network
J.2.3.1 Multiple Sensors Transmitting to a Broadcast Address
J.2.3.2 Multiple Sensors Transmitting to a Specific Address
VLP-16 User Manual
63-9243 Rev. D
Copyright 2018 Velodyne LiDAR, Inc. All rights reserved.
Trademarks
Velodyne™, HDL-32E™, HDL-64E™, VLP-16™, VLP-32™, Puck™, Puck LITE™, Puck Hi-Res™, and Ultra Puck™ are trade-
marks of Velodyne LiDAR, Inc. All other trademarks, service marks, and company names in this document or website are
properties of their respective owners.
Disclaimer of Liability
The information contained in this document is subject to change without notice. Velodyne LiDAR, Inc. shall not be liable for
errors contained herein or for incidental or consequential damage in connection with the furnishing, performance, or use
of this document or equipment supplied with it.
The materials and information contained herein are being provided by Velodyne LiDAR, Inc. to its Customer solely for Cus-
tomer’s use for its internal business purposes. Velodyne LiDAR, Inc. retains all right, title, interest in and copyrights to the
materials and information herein. The materials and information contained herein constitute confidential information of
Velodyne LiDAR, Inc. and Customer shall not disclose or transfer any of these materials or information to any third party.
No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, includ-
ing photocopying and recording, or stored in a database or retrieval system for any purpose without the express written
permission of Velodyne LiDAR, Inc., which reserves the right to make changes to this document at any time without notice
and assumes no responsibility for its use. This document contains the most current information available at the time of pub-
lication. When new or revised information becomes available, this entire document will be updated and distributed to all
registered users.
Limited Warranty
Except as specified below, products sold hereunder shall be free from defects in materials and workmanship and shall con-
form to Velodyne's published specifications or other specifications accepted in writing by Velodyne for a period of one (1)
year from the date of shipment of the products. The foregoing warranty does not apply to any Garmin products, other
products not manufactured by Velodyne or products that have been subject to misuse, neglect, or accident, or have been
opened, dissembled, or altered in any way. Velodyne shall make the final determination as to whether its products are
defective. Velodyne 's sole obligation for products failing to comply with this warranty shall be, at its option, to either repair,
replace or issue credit for the nonconforming product where, within fourteen (14) days of the expiration of the warranty
period, (i) Velodyne has received written notice of any nonconformity; (ii) after Velodyne's written authorization, Buyer has
returned the nonconforming product to Velodyne at Buyer's expense; and (iii) Velodyne has determined that the product is
nonconforming and that such nonconformity is not the result of improper installation, repair or other misuse. Velodyne will
pay for return shipping for all equipment repaired or replaced under warranty and Buyer will pay all duties or taxes, if any,
on all equipment repaired or replaced under warranty. THE FOREGOING WARRANTY AND REMEDIES ARE
EXCLUSIVE AND MADE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED OR
OTHERWISE, INCLUDING WARRANTIES OF 65-0003 Rev E Velodyne LiDAR Terms & Conditions Page 3 of 5 2016-
03-31 MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. VELODYNE DOES NOT ASSUME OR
AUTHORIZE ANY OTHER PERSON TO ASSUME FOR IT ANY OTHER LIABILITY IN CONNECTION WITH ITS
PRODUCTS. This warranty is non-transferable.
Velodyne LiDAR, Inc.
5521 Hellyer Ave
San Jose, CA 95138
Phone +1 408-465-2800
Revision History
Sensor
Firmware
Release
Date
Release Notes
VLP-16
3.0.37.0
2017-12-12
• CHANGED: Phase Lock Offset setting now expects
integer degrees instead of hundredths of degrees.
• IMPROVED: Removed 'Update Calibration' from System
tab.
• IMPROVED: Sun Noise Filter.
• ADDED: Ability to change sensor's Ethernet MAC
Address from Web Interface.
• IMPROVED: Low signal cross-talk filtering performance.
• IMPROVED: Firmware update messages during update.
• IMPROVED: Phase Lock rotations error < ±5 degrees.
• FIXED: Intermittent ghost returns at 40, 80 and greater
than 124 meters.
• IMPROVED: Several JSON data additions and changes.
• ADDED: Reverse rotation capability. Specify negative
RPM values to use this capability.
For details, see the full Release Notes at http://www.ve-
lodynelidar.com/downloads.html#firmware.
3
Table of Contents
Chapter 1 • About This Manual
1.1 Manual Scope
1.2 Prerequisite Knowledge
1.3 Audience
1.4 Document Conventions
Chapter 2 • VLP-16 Overview
2.1 Overview
2.2 Product Models
2.3 Time of Flight
2.4 Data Interpretation Requirements
Chapter 3 • Safety Precautions
3.1 Warning and Caution Definitions
3.1.1 Caution Hazard Alerts
3.2 Safety Overview
3.2.1 Electrical Safety
3.2.2 Mechanical Safety
3.2.3 Laser Safety
Chapter 4 • Unboxing & Verification
4.1 What’s in the Box?
4.1.1 Variants
4.2 Verification Procedure
4.2.1 Network Setup in Isolation
4.2.2 Access Sensor’s Web Interface
4.2.3 Visualize Live Sensor Data with VeloView
4.2.3.1 VeloView Operation
Chapter 5 • Installation & Integration
5.1 Overview
5.2 Mounting
5.3 Encapsulation, Solar Hats, and Ventilation
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5.4 Connections
5.4.1 Integrated Cable and Interface Box
5.4.2 Operation Without an Interface Box
5.4.3 Power
Chapter 6 • Key Features
6.1 Calibrated Reflectivity
6.2 Laser Return Modes
6.2.1 Single Return Modes: Strongest, Last
6.2.2 Multiple Returns
6.2.3 Dual Return Mode
6.3 Phase Locking Multiple Sensors
Chapter 7 • Sensor Inputs
7.1 Power Requirements
7.2 Interface Box Signals
7.3 Ethernet Interface
7.4 GPS, Pulse Per Second (PPS) and NMEA GPRMC Message
7.4.1 GPS Input Signals
7.4.2 Electrical Requirements
7.4.3 Timing and Polarity Requirements
7.4.4 GPS Connection Scenarios
7.4.4.1 Connecting a Garmin 18x LVC GPS Receiver
7.4.4.2 Connecting to a computer's serial port
7.4.4.3 Connecting to a microcomputer’s UART
7.4.5 NMEA Message Formats
7.4.5.1 Pre-NMEA Version 2.3 Message Format
7.4.5.2 NMEA Version 2.3 Message Format
7.4.6 Accepting NMEA Messages Via Ethernet
Chapter 8 • Sensor Operation
8.1 Firing Sequence
8.2 Throughput Calculations
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8.2.1 Data Packet Rate
8.2.2 Position Packet Rate
8.2.3 Total Packet Rate
8.2.4 Laser Measurements Per Second
8.2.4.1 Single Return Mode (Strongest, Last)
8.2.4.2 Dual Return Mode
8.3 Rotation Speed (RPM)
8.3.1 Horizontal Angular (Azimuth) Resolution
8.3.2 Rotation Speed Fluctuation and Point Density
Chapter 9 • Sensor Data
9.1 Sensor Origin and Frame of Reference
9.2 Calculating X,Y,Z Coordinates from Collected Spherical Data
9.3 Packet Types and Definitions
9.3.1 Definitions
9.3.1.1 Firing Sequence
9.3.1.2 Laser Channel
9.3.1.3 Data Point
9.3.1.4 Azimuth
9.3.1.5 Data Block
9.3.1.6 Time Stamp
9.3.1.7 Factory Bytes
9.3.2 Data Packet Structure
9.3.3 Position Packet Structure
9.4 Discreet Point Timing Calculation
9.5 Precision Azimuth Calculation
9.6 Converting PCAP Files to Point Cloud Formats
Chapter 10 • Sensor Communication
10.1 Web Interface
10.1.1 Configuration Screen
10.1.1.1 MAC Address
10.1.1.2 Correctly reset MAC Address to Factory MAC Address
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10.1.2 System Screen
10.1.3 Info Screen
10.1.4 Diagnostics Screen
10.2 Sensor Control with curl
10.2.1 Using curl with Velodyne LiDAR Sensors
10.2.2 curl Command Parameters
10.2.3 Command Line curl Examples
10.2.3.1 Get Diagnostic Data
10.2.3.2 Conversion Formulas
10.2.3.3 Interpret Diagnostic Data
10.2.3.3.1 top:hv
10.2.3.3.2 top:lm20_temp
10.2.3.3.3 top:pwr_5v
10.2.3.3.4 top:pwr_2_5v
10.2.3.3.5 top:pwr_3_3v
10.2.3.3.6 top:pwr_5v_raw
10.2.3.3.7 top:pwr_vccint
10.2.3.3.8 bot:i_out
10.2.3.3.9 bot:lm20_temp
10.2.3.3.10 bot:pwr_1_2v
10.2.3.3.11 bot:pwr_1_25v
10.2.3.3.12 bot:pwr_2_5v
10.2.3.3.13 bot:pwr_3_3v
10.2.3.3.14 bot:pwr_5v
10.2.3.3.15 bot:pwr_v_in
10.2.3.4 Get Snapshot
10.2.3.5 Get Sensor Status
10.2.3.6 Set Motor RPM
10.2.3.7 Set Field of View
10.2.3.8 Set Return Type (Strongest, Last, Dual)
10.2.3.9 Save Configuration
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10.2.3.10 Reset System
10.2.3.11 Network Configuration
10.2.3.12 Set Host (Destination) IP Address
10.2.3.13 Set Data Port
10.2.3.14 Set Telemetry Port
10.2.3.15 Set Network (Sensor) IP Address
10.2.3.16 Set Netmask
10.2.3.17 Set Gateway
10.2.3.18 Set DHCP
10.2.4 curl Example using Python
Chapter 11 • Troubleshooting
11.1 Troubleshooting Process
11.1.1 Turned DHCP On, Lost Contact With Sensor
11.2 Service and Maintenance
11.2.1 Fuse Replacement
11.3 Technical Support
11.3.1 Purchased through a Distributor
11.3.2 Factory Support
11.3.3 Support Desk
11.4 Return Merchandise Authorization (RMA)
Appendix A • Sensor Specifications
Appendix B • Firmware Update
B.1 Firmware Update Procedure
B.1.1 Special Procedure to Update Firmware
B.1.2 If An Error Occurs
Appendix C • Mechanical Diagrams
C.1 Interface Box Mechanical Drawing
C.2 VLP-16 and Puck LITE Mechanical Drawing
C.3 VLP-16 and Puck LITE Optical Drawing
C.4 VLP-16 and Puck LITE Optical Keep Out Zone
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