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Congratulations on your purchase of a Velodyne HDL-64E S2 or S2.1 High Definition LiDAR Sensor. These sensors represent a
breakthrough in sensing technology by providing more information about the surrounding environment than previously possible.
The HDL-64E S2 or S2.1 High Definition LiDAR sensors are referred to as the sensor throughout this manual.
This manual and programming guide covers:
• Installation and wiring
• HDL-64-ADAPT (GPS Adaptor Box)
• The data packet format
• The serial interface
• Software updates
• GPS installation notes
• Viewing the data
• Programming information
This manual applies to the two versions of the HDL-64E sensor, the S2 and S2.1, unless otherwise indicated. The table below compares the
laser layout, vertical field of view (VFOV) and primary application of the two versions.
HDL-64E Version Lower Laser Block Upper Laser Block Vertical Field of View (VFOV) Primary Application
S2 32 lasers separated by 32 lasers separated by +2 to -24.8° Autonomous navigation
½° vertical spacing 1/3° vertical spacing
S2.1 32 lasers separated by 32 lasers separated by 31.5° 3D mapping
(dual lower block) ½° vertical spacing ½° vertical spacing
For the latest updates to this manual – check www.velodynelidar.com.
In the Box
Each shipment contains:
• Sensor
• HDL-64-ADAPT (GPS Adaptor Box)
• Wiring harness
• CD with user manual, calibration file (db.xml), timing table calculation file (.xls) and DSR viewer
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HDL-64E S2 and S2.1 User’s Manual