Scribd
Upload
255 views32 pages

63-9266 Rev A Webserver User Guide, Hdl-32e & Vlp-16

This document provides instructions for setting up and configuring a Velodyne LiDAR sensor. It describes connecting the sensor to a computer via Ethernet, accessing the sensor's web interface, and adjusting settings like the return type, RPM, and field of view. The document also explains using GPS synchronization and the phase lock feature when working with multiple sensors.

Uploaded by

nosenose123123
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
255 views32 pages

63-9266 Rev A Webserver User Guide, Hdl-32e & Vlp-16

This document provides instructions for setting up and configuring a Velodyne LiDAR sensor. It describes connecting the sensor to a computer via Ethernet, accessing the sensor's web interface, and adjusting settings like the return type, RPM, and field of view. The document also explains using GPS synchronization and the phase lock feature when working with multiple sensors.

Uploaded by

nosenose123123
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 32

Webserver

User Guide
VLP-16 & HDL-32E

w w w . v e l o d y n e l i d a r . c o m

Basic Sensor Setup

GPS
IP Address:
192.168.1.77

IP Address:
192.168.1.201
Ethernet

9-32 VDC

SeAng up the computer to communicate with the sensor


Connect the computer to the interface box with an Ethernet Cable
A GPS connecCon is not necessary at this point.

Apply power to the sensor.


For now, disable the WiFi connecCon on your computer.
Congure your computers IP address on its Ethernet port to
manual mode.
Set your computers IP address to 192.168.1.77
77 can be anything except 0,255, or 201

Set the subnet mask to 255.255.255.0


Pull up the sensors webserver interface by typing the sensors
network address, 192.168.1.201, into the address bar in your web
browser.

Congure the Ethernet connecHon on your


computer (Windows 7)

Manual IP ConguraHon Windows


1 of 6
1,2,3

1.
2.
3.
4.

Open the Control Panel


Select Network and
Internet
Select Network and Sharing
Center
Select Local Area ConnecCon

Manual IP ConguraHon Windows


2 of 6

Press ProperCes

Manual IP ConguraHon Windows


3 of 6

1
2

1. Highlight Internet
Protocol Version 4 (TCP/
IPv4)
2. Press ProperCes

Manual IP ConguraHon Windows


4 of 6

1. Congure the IP address


and Subnet mask as
shown.

2. Press OK

Manual IP ConguraHon Windows


5 of 6

Press OK

Manual IP ConguraHon Windows


6 of 6

Press Close

10

Congure the Ethernet connecHon on your


computer (Mac OS)

11

Manual IP ConguraHon Mac

12

1. Go to System Preferences
2. Select Network
3. Select the Ethernet
ConnecCon
4. Congure the IP address
as shown
5. Press Apply
6. Close window

To pull up the VLP-16 webserver user interface



Type hWp://192.168.1.201

into your web browsers address bar

13

ConguraHon Screen

14

System Screen

15

Info Screen

16

DiagnosHcs Screen

17

Changing OperaHng Parameters


To change operaCng
parameters, press the Set
bu_on a`er typing in a change.

To write the operaCng
parameters to non-volaCle
RAM, and retain the value over
a power cycle, press the Save
ConguraCon bu_on.

18

Changing The Return Type


The user can chose between
three return modes: Strongest,
Last, and Dual.

If you choose Dual mode the
data rate of the sensor
doubles.

19

Changing The RPM


Valid values for the RPM are
integer numbers in the range of
300 to 1200.

20

Changing The Field of View


Some users are not interested
in collected data from the
complete 360 range of the
sensor. To eliminate unwanted
returns, the user can select
their own eld of view (FOV).
Valid entries are integer
numbers from 0 to 359.

21

Using the Phase Lock Feature


When using mulCple sensors in
proximity to one another, it
may be advantageous to have
the Cming of the sensors oset
by a xed amount. The Phase
Lock feature requires that the
GPS PPS signal be present and
locked.

22

Phase Lock Example


The blue arrow indicates the direcCon of
the sensors laser ring at the moment it
receives the rising edge of the PPS signal.

Physical 0 PosiCon

Phase oset
at 0

23

Physical 0 PosiCon

Phase oset
at 45

Top View

Physical 0 PosiCon

Phase oset
at 135

Changing The Network Address


Be careful not to change the network address
to a value that is unreachable from your
computer.

Never set the Network (sensor) address to
255.255.255.255.

If you cant reach your sensor via the web
server interface, use a program like Wireshark
to determine the network address of your
sensor.

Its best to operate the sensor on its own
network segment. Due to the volume of data
produced by the sensor, avoid using the
sensor on a corporate network.

24

GPS SynchronizaHon
The goal of the GPS SynchronizaCon is to match the
Cme stamp from the sensor to UTC Cme.
Two things must occur for this to happen.
The sensor must see a $GPRMC on its serial line.
The sensor must receive a valid PPS signal.

To ensure synchronizaCon, the users so`ware should


do two things:
Check the PPS SynchronizaCon Status eld in the posiCon
packet (locaCon oset 0x00F4)
Check to see the Naviga@on Receiver Warning eld in the
$GPRMC message is A, indicaCng a valid x (locaCon
oset 0x0106)

25

PPS SynchronizaHon Status Field


The data at locaCon oset 0x00F4 in the
posiCon packet indicates the status of the PPS
lock.
The possible states are:
0: Absent
1: A_empCng to Synchronize
2: Locked
3: Error
26

GPS SynchronizaHon

When there is no GPS


connected, the posiCon
eld will be empty and the
PPS eld will read Absent.

27

GPS SynchronizaHon 2

When a pre-programmed
Garmin GPS (available from
Velodyne) is connected, the
Garmin provides its last
known posiCon, but if the
GPS is not locked on the
satellites, the PPS eld will
read absent.

The behavior of other GPS
receivers may vary.
28

GPS SynchronizaHon 3

When a GPS is connected,


and the PPS is present, the
PPS status eld will read
Locked.

Note - this does not indicate
the Cme is synchronized.

29

PosiHon Packet Example Not Syncd

PPS SynchronizaCon
Status eld = 0
indicates PPS absent

The V in the $GPRMC


Naviga@on Receiver
Warning eld indicates the
GPS receiver cannot
guarantee the accuracy of
the posiCon x.
30

PosiHon Packet Example Syncd


PPS SynchronizaCon
Status Field = 2
indicates sensor has
locked on the PPS.

For Cme synchronizaCon to


occur, the PPS eld must be
locked and the sensor must be
receiving valid $GPRMC
messages with an an A in
the Naviga@on Receiver
Warning eld.

It is the users responsibility to
check that both condiCons are
met.

The A in the $GPRMC


Naviga@on Receiver
Warning eld indicates a
valid locaCon x and Cme.
31

Thank You!
63-9266 and its Rev A

63-9266 Rev A Nov 2015

w w w . v e l o d y n e l i d a r . c o m

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy