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1. 69 Rework History 2 Pages Date Reject Description Comments Date Failure Analysis Comments Date Description of Rework EA Comments Date Reject Description TE Comments Date Failure Analysis Comments Date Description of Rework Comments Velodyne Acoustics Inc 345 Digital Drive Morgan Hill CA 95037 408 465 2800 voice 408 779 9227 fax 408 779 9208 service fax www velodyne com Service E mail service velodyne com Product E mail help velodyne com Technical E mail techhelp velodyne com Sales E mail lidar velodyne com 63 300 Rev C NOVO7 Other trademarks or registered trademarks are property of their respective owners
2. 1 09002 _ 700 Where _ 905 nm Gs 2 57 Class 1M 514 nJ Condition 1 Conclusion Since all Cases are lower than the Class 1M AELgp the Product is rated as Class 1M for this Condition Condition 2 Average Accessible Emission Limit 1 second exposure The average power is calculated similarly to Condition 1 except more lasers overlap in the Pulse Repetition period The formula for calculating the fixed position power is Detected Laser Energysp Pulse Repetition Rate Laser Overlap Head Overlap Sequential Duty Cycle Rotation Factor where the Laser Overlap is the number of times within the Base Repetition Period a laser emission illuminates the detector In Cases a and b there are 8 separate laser emissions that overlap the same spot size all lasers within the burst period overlap In Case c this number is 3 to account for the maximum overlap within the head as the unit rotates In Case d there is no overlap so this number is 1 the Head Overlap is the number of Heads that will cross the fixed position detector in a single rotation In Cases a b and c this number is 2 In Case d there is no overlap of left and right heads so this number is 1 the Sequential Duty Cycle is how often the Upper Head of the Product is triggered in the system operation This number is 0 75 14 and the Rotation Factor is the ratio of laser spot size to the circumference at the given distance form
3. 10 3 Provide a measurement error analysis for all sources of error identified and an uncertainty statement for all measurement data reported Not Applicable Is additional information attached JYes NOTE If it is clear from the measurement data including the total estimated uncertainty that the levels are well below the applicable class limit then an error analysis and uncertainty statement are not required For example an error analysis and uncertainty statement would not be required for a 1 5 milli watt HeNe laser product classified in Class Illa 10 4 Provide instrument calibration schedules and indicate how your instruments are calibrated e g calibrated by your company against a working standard returned to the manufacturer of the instrument sent to an independent calibration laboratory Not Applicable Is additional information attached JYes NOTE If your laser product operates at a level closely approaching a specified limit high accuracy and traceability to the National Institute of Standards and Technology previously known as the National Bureau of Standards are important 36 APPENDEX A HDL 64E USER S MANUAL HDL 64E USER S MANUAL High Definition Lidar Sensor Velodyne 37 CAUTION IMPORTANT SAFETY INSTRUCTIONS CAUTION 0 C RISK OF ELECTRIC SHOCK NOT OPEN Caution To reduce the risk of electric shock do not remove cover
4. 0 702363 2 800000 38 000000 0 000000 4 000000 0 255 26 __ 1 042230 4 700000 28 000000 0 000000 4 000000 0 255 21 1 382020 6 700000 25 000000 0 000000 4 000000 0 255 20 1 721740 4 700000 18 000000 0 000000 4 000000 0 255 17 E 2 061410 2 600000 34 000000 0 000000 4 000000 0 255 16 EN 2 401040 0 800000 29 000000 0 000000 4 000000 0 255 13 2 3 2 740630 1 800000 28 000000 0 000000 4 000000 255 12 3 080210 3 300000 24 000000 0 000000 4 000000 0 255 23 z 5 300000 5 800000 30 000000 0 000000 4 000000 0 255 22 0 3 759370 4 000000 17 000000 0 000000 4 000000 0 255 19 098960 1 500000 32 000000 0 000000 4 000000 0 255 18 z 4 438590 0 400000 22 000000 0 000000 4 000000 0 255 15 4 778260 2 800000 32 000000 0 000000 4 000000 0 255 14 z 5 11790 4 600000 19 000000 0 000000 4 000000 0 255 9 z 5 457770 6 500000 37 000000 0 000000 4 000000 0 255 8 2 5 797640 5 000000 20 000000 0 000000 4 000000 0 255 Selected color E m7 Figure Calibration values as seen in DSR File Properties M www VELODYNE COM HDL 64E User s Manua 14 53 DSR Key Controls Zoom Z Zoom in Shift Z Zoom out Z axis rotation Y Rotate CW Shift Rotate CCW X axis rotation P Rotate CW Shift Rotate CCW Y axis rotation R Rotate CW Shift R Rotate CCW Z Shift F Forward B Back X Shift L Left H Right Y Shift U Up D Down Aux F
5. 230 2 Verify the Upper and Lower Block Flat Flex Cables are copper shielded and connected properly onto the boards Task 400 Check for 64 Lasers 1 Time Task 400 Descriptions By Date Verify 400 1 Verify all 32 Lasers on upper board are firing 400 2 Verify all 32 Lasers on lower board are firing 63 Task 450 Preliminary Balance Task 450 Descriptions By Date Verify 450 1 Verify the unit without the shell is balanced Reading from Oscilloscope Channel 1 mV 9 0 mV max Channel 2 mV 9 0 mV max Task 480 1 Images Check Task 480 Descriptions By Date Verify 480 1 Bring the Unit outside and check for Images Task 500 Balance with Shell Task 500 Descriptions By Date Verify 500 1 Verify the unit with shell is balanced with additional weight on the outside of the shell Reading from Oscilloscope Channel 1 mV 6 0 mV max Channel 2 mV 6 0 mV max 500 2 Verify the unit with shell is balanced with additional weight on the inside of the shell Reading from Oscilloscope Channel 1 mV 7 0 mV max Channel 2 mV 7 0 mV max 64 Task 520 Check for 64 Lasers 2nd Time Task 520 Descriptions By Date Verify 520 1 Verify all 32 Lasers on upper board are fi
6. Care should be taken so that objects do not fall and liquids are not spilled onto the enclosure 10 Damage Requiring Service The product should be serviced by qualified service personne when a The product does not appear to operate normally or exhibits a marked change in performance b The product has been dropped or damaged 11 Servicing The user should not attempt to service the product beyond what is described in the operating instructions All other servicing should be referred to qualified service personnel WWW VELODYNE COM HDL 64E User s Manual 38 TABLE OF CONTENTS Ms es ance my Stee St mi Gent una Ses EC AEN E Ks aed 1 xu zu vex ur Was mq E PD TI 2 CIEPVIBW ua 22525 EN teens AEN 98508 KOREA MER SOPLE EELER udi xad 3 MOUREIIG css came mans sssaaa mes nn sewer a sss am aa a Beene RIA E e EI Fund Russ 3 N 4206 Hake 2 62 XGA AN ee 00 EXE Set 2 6 See Ex 6 Sange zem ars arme a Stee CG Saal SEN SEI FRE SE te es wie wir 6 Data Packet Gonstrction sos new u ume xq We SE I 6 a CORRECTION ACIES eet Auen 5280 50056 PENES re EEE Ee eee 7 B ntreling tne spin uc cam ar wer ren wu Die VESE
7. am Ta 8 Firmware Update i 4 68 DER nu 8 OCDE 2a ae agers man aime deme ee E TEE wees eee 91 ane TE apis 9 000080005 uu 15 vues HOG PSs See Hew EE Fe SG 3 10 Appendix A Connector Wiring Diagram 11 Appendix B Angular BHesol toli ar as sam eme am sa a un ws 12 Appendix C Digital Sensor Recorder 5 13 WWW VELODYNE COM HDL 64E User s Manual ji 39 INTRODUCTION Congratulations on your purchase of a Velodyne HDL 64E High Definition Lidar Sensor This product represents a breakthrough in sensing technology by providing exponentially more information about the surrounding environment than previously possible This guide first covers installation and wiring then addresses output packet construction and interpretation and finally discusses the serial interface to the unit and software updates This manual is undergoing constant revision and improvement check www velodyne com lidar for updates Each shipment contains HDL 64E sensor Wiring harness Mounting tool pouch CD with user manual calibration file db XML and DSR viewer WWW VELODYNE COM HDL 64E User s Manual 1 40 PRINCIPLES OF OPERATION The HDL 64E operates on a rather simple premise instead of a single laser firing through a rotating mirror 64 lasers are mounted on u
8. Condition 3 Conclusion Since all Cases are lower than the Class 1M sp the Product is rated as Class 1M for this Condition Condition 3B Repetitive Pulse Accessible Emission Limit 18 us exposure Since there are multiple pulses within an 18 us period we must also check that the total energy in the 18 us period does not exceed the AEL for 18us Also since there is no overlap of multiple laser emissions there is no burst mode operation in 18 us for Cases d so this Case will not be evaluated in this calculation The maximum number of laser emissions that can occur in an 18 us period is Case a 5 Case b 5 Case c 3 So the total energy in this 18 us period is 5 32 1 nJ 160 5 nJ 5 31 6 nJ 158 0 nJ 20 7 68 1 Sub Case a 5 Detected Laser Energysp Sub Case b 5 Detected Laser Energysp Sub Case b 5 Detected Laser Energysp Class 1M 7 10 t C from IEC 60285 1 Table 4 Where t 18 us and C4 2 57 497 nJ 16 Condition 3B Results Since all Cases are lower than the Class IM AEL the Product is rated as Class 1M for this Condition 6 1 CONCLUSION Since the Product meets the Accessible Emission Limits for these three conditions It is classified as a Class 1M Product 6 2 Indicate the Class of the laser product based on your response to Part 6 1 X Class Class Class Glass Class Class IV
9. Task 570 Check for 64 Lasers 3rd Time Descriptions By Date Verify 570 1 Verify all 32 Lasers on upper board are firing 570 2 Verify all 32 Lasers on lower board are firing 590 Images Check 2 Time Descriptions By Date Verify 590 1 Install the bottom square cover with O ring 590 2 Bring the Unit outside and check for Images Task 600 Burn In Ta Descriptions By Date Verify 600 Record Start Time and End Time Start Date Time 600 1 End Date Time Total Burn In Time hrs 66 Task 800 Final Images Check Task 800 Descriptions By Date Verify 800 1 Install the bottom square cover with O ring 800 2 Bring the unit outside and check for images Task 990 Pack and Ship Task mm d 990 Descriptions By Date Verify 990 1 Verify Velodyne S N label installed on the bottom of the unit 990 2 Tool Kit P N 92 0090 Verify all the item are inside the tool pouch Qty 1 Tool Pouch P N 92 0101 Hex Allen Wrench Drivers Qty 1 ___ 050 Hex Allen Wrench P N 92 0091 Qty 1 ___ 1 16 Hex Allen Wrench P N 92 0092 Qty 1 ___3 32 Hex Allen Wrench P N 92 0095 Qty 1 5 64 Hex Allen Wrench P N 92 0097 Hex Allen Wrench T Handle Qty 1 3 16 Hex Allen Wrench w T Handle P N 92 0093 Qty 1 3 32 Hex Allen Wrench w T Handle P N 92 0094 Qty 1 7 64
10. X No N A Location on product _ This laser product contains non defeatable interlocks__ Are the label s visible both prior to and during interlock defeat Yes X No N A 3 8 Label s for optionally interlocked protective housings See Laser Notice of March 2 1977 dealing with optional interlocks Is the label or a copy submitted with this report Yes X JNo Location on product __ Are labels visible both prior to and during opening or removal of the housing Yes X JNo NOTE If the labeling requirements are inappropriate to your product you may apply for approval of alternate labeling See sections 1010 2 1010 3 and 1040 10 9 10 PART 4 COMPLIANCE WITH THE INFORMATIONAL REQUIREMENTS 4 1 Submit copies of user and servicing information operator and service manuals for your laser product If the manuals are very extensive submit those portions that confirm compliance with Section 1040 10 and 1040 1 1 a 2 if a medical laser product and that permit understanding how your laser product functions See Compliance Guide page 8 for assistance Are copies of user and service information attached to this report Yes X JNo If Yes please identify attachment If No please explain why not A User s Manual is attached as Appendix A NOTE These materials may also be used in the product description required by Part 5 4 2 Submit copies of any catalogs specification sheets and desc
11. 3 08 2 404 mJ m Pass 30ft 3 37 mJ m 1 227 mJ m Pass 100 amp 3 08 m m 0 146 mJ m Pass TABLE 2 Condition 3 Calculated MPE vs Single Pulse Laser Energy Density vs Distance Condition 3 Conclusion Since the 1 ft Case exceeds the MPE limit and 5 feet and beyond are all lower than the MPE the ENOHD for Condition 3 is 5 feet Condition 3B Repetitive Pulse Accessible Emission Limit 18 us exposure Since there are multiple pulses within an 18 us period we must also check that the total energy in the 18 us period does not exceed the AEL for 18us This condition only occurs in 21 Cases 14mm 100mm and 16 Since each of these Cases are already inside the ENOHD per Condition 3 no calculations need to be conducted for Condition 3B 6 6 CONCLUSION For the situation of viewing the Product with viewing optics which is not recommended since the Product exceeds the Condition 3 MPE at one foot from the output window for this situation but is within the MPE limit at five feet the ENOHD for this Product is 5 feet PART 7 COMPLIANCE WITH THE PERFORMANCE REQUIREMENTS 7 1 Protective housing Required for all laser products 1040 1O f 1 7 1 1 Describe the product s protective housing and how it serves to prevent unnecessary human access to laser radiation The laser is mounted inside of a solid aluminum tube The laser only fires forward Each laser tube is securely mounted inside a larger housin
12. 10 5 1 31 25 kHz 1 2 0 75 0025 10 s 170 40 s 191 10 s 239 Case 30ft 31 25 kHz 1 1 0 75 0009 10 5 262 Case 100ft Cs 31 25 kHz 1 1 0 75 0003 10 s 345 The limits are then calculated by an sp MPEsp Cs where 12 85 mJ m from Condition 1 for non burst single pulses And MPE igus MPE sus Cs for Cases when multiple emissions occur in an 18us period where 18us 18 6075 J m from IEC 60285 1 Table A1 where t 18 us and C4 2 57 12 78 mJ m MPE Calculation is Case 14mm MPE an 12 78 mJ m 0623 0 80 mJ m Case 100mm igus 12 78 mJ m 0728 0 93 mJ m Case 1ft an 12 78 mJ m 0876 1 12 mJ m Case 5ft an sp 12 85 m 121 1 56 mJ m Case 10ft ep 12 85 mJ m 170 2 20 mJ m Case 166 sp 12 85 mJ m 191 2 46 mJ m Case 206 sp 12 85 mJ m 239 3 08 mJ m Case 30ft sp 12 85 mJ m 262 3 37 mJ m Case 100ft an sp 12 85 mJ m 345 4 43 mJ m Condition 3 Single Pulse MPE Detected Laser Pass Fail Energy Density Fail 0 80 mJ m 0 833 mJ m 0 93 mJ m 0 821 mJ m Pass 1 18 mJ m 1 183 mJ m Fal 1 417 mJ m Pass e 153mJ m Pass 2 292 mJ m Pass
13. 7 11 1 State whether all laser and collateral radiation accessible by virtue of viewing optics view ports and display screens incorporated into the reported model of laser product is less than the accessible emission limits of Class and Table VI during operation and maintenance Include with your calculations pertinent attenuation factors window transmission characteristics etc Yes the emission limits are below that of Class I The Product is not intended for use with any viewing optics so the Product is classified as Class IM Are electrical mechanical diagrams or additional information attached Yes X REMINDER Report in Part 5 the location and identification of laser and collateral radiation made accessible by viewing optics viewports and display screens In Part 6 report the highest levels 7 11 2 Describe in detail using diagrams or photographs and radiation transmission or reflection spectra each shutter or variable attenuator incorporated into viewing optics viewport or display screen Describe how exposure of the eye to laser or collateral radiation in excess of the accessible emission limits of Class and Table VI is prevented whenever the shutter is opened or the attenuator is varied N A This Product does not have a shutter and does not have an attenuator The product does not have collateral radiation Are diagrams photographs or additional information attached Yes X N A 7 11 3 Describe ho
14. At 20 feet 6096 mm from the output lens the beam diameter is 8x16mm 124 8mm2 Case d is the minimum spot size outside the lens Per IEC 60285 1 a receiver with 7mm diameter shall be used to measure the output power form the Product This 7 mm diameter detector will have a surface of 38 465mm BI Since the area of the detector is smaller than the laser spot sizes a Detector Correction Factor for this aperture will be used This Detector Correction Factor is Case a 38 465 720 0 0534 Case 38 465 731 0 0526 Case 38 465 507 2 0 0758 Case d 38 465 124 8 0 3082 Per IEC 60285 for a repetitively pulsed laser source three conditions must be checked to validate the Product Laser Classification The Product shall be Classified as the worst case rating of these three conditions Condition 1 Single Pulse Accessible Emission Limit The formula for calculating the detected single pulse energy is Peak Power Pulse Width Number of Lasers Overlapping Detector Correction Factor Case a Detected Laser Energy 60 W 5 ns 2 0534 32 0 nJ Case b Detected Laser Energy 60 W 5 ns 2 0526 31 6 nJ Case Detected Laser Energy 60 W 5 ns 1 0758 22 7 Case 9 Detected Laser 60 W 5 ns 1 3082 92 5 The single pulse AEL is calculated from Table 4 of IEC 60285 1 Class 1M 2 107 Where C is derived from Table 10
15. Mechanical 12V input 16V max 4 amps lt 29 lbs 10 tall cylinder of 8 OD radius 300 RPM 900 RPM spin rate user selectable 100 MBPS UDP Ethernet packets WWW VELODYNE COM HDL 64E User s Manual 0 49 APPENDIX CONNECTOR WIRING DIAGRAM Sd d er ON 5 0097 IN GNO z 13N831H3 9 T j L E LNO 13N 31H3 Lr er SOLI93NNOO 13NSNZ2H13 HOIO3NNOO TvIH3S SSOUIEH o2ej19ju Jos 11 HDL 64E User s Manual WWW VELODYNE COM 50 APPENDIX B ANGULAR RESOLUTION Lower Block Points Per Points Per Revolution Angular Resolution Revolution Per Laser degrees Points Per Points Per Revolution Angular Resolution Post Lower Block Revolution Per Laser degrees Angular Resolution degrees 200000 100000 66667 Notes The HDL 64E generates 1 million points per second The lower block reports 250 000 points The upper block reports 750 000 points There are three upper block packets then one lower block packet reported then the pattern repeats The first upper block measurement after the lower block measurement reports has half the angular resolution WWW VELODYNE COM HDL 64E User s Manual 12 51 APPENDIX C DIGITAL SENSOR RECORDER DSR Digital Sensor Recorder 058 The CD that is included with the HDL 64E sensor contains a poi
16. losses attenuation factors etc please provide calculations to demonstrate accurate calibration of the delivered beam to within or 20 as required by 1040 1 1 a 1 Not Applicable Are calculations or additional information attached Yes JNo Not Applicable 7 14 4 Are procedures and a schedule for recalibration of the measurement system included in the user instructions Not Applicable JYes JNo If yes please identify location in the user instructions 7 15 Surveying leveling or alignment laser products Is the product a surveying leveling or alignment laser product Yes X JNo If yes then it is subject to the requirements of section 1040 11 b If the product s class exceeds Class llla then an approved variance from the performance requirements in this section would be necessary prior to introduction into commerce Procedures for applying for a variance are given in section 1010 4 and described in the Compliance Guide page 13 7 16 Demonstration laser products Is the product a demonstration laser product Yes X JNo If yes then it is subject to the requirements of section 1040 11 c If the product s class exceeds Class llla then an approved variance from the performance requirements in this section would be necessary prior to introduction into commerce Procedures for applying for a variance are given in the Compliance Guide pages 13 and 16 22 An Application for a Variance from 21 CFR 1
17. with 255 being the most intense return A zero return indicates no return up to 65 meters Six status bytes that alternate between packets The end of the packet will show either A reading showing the internal temperature of the unit You will see a DegC ASCII string as the last four bytes of the packet The two bytes before this string are the thermistor s reading in C in hex 8 8 format This is in big indian format i e the byte immediately preceding the DegC text is the whole degrees and the byte preceding that is the fraction of a degree in 1 256 increments So if you see cO 1a the temperature of the thermistor is 26 75 degrees C Or the version number of the firmware in ASCII character format Vn n where n n is the version number i e 1 5 WWW VELODYNE COM HDL 64E User s Manual 6 45 The HDL 64E data is presented as distances and intensities only Velodyne includes a packet viewer called DSR whose installer files are on the CD that came with the unit DSR reads in the packets from the HDL 64E unit performs the necessary calculations to plot the points presented in 3 D space and plots the points on the viewer screen Note The HDL G4E will output three upper block packets for every one lower block packet This provides more resolution when identifying objects at greater distances The minimum return distance for the HDL G4E is approximately three feet Returns closer than this should be ignored Correction
18. APPENDIX INSPECTION CHECK LIST Title Doc P N Rev 70 0008 E3 Form Checklist WIP HDL Model 80 HDL64E Items W O S N Serial Upper Detector PCB Lower Detector PCB UL Laser Assembly UR Laser Assembly LL Laser Assembly LR Laser Assembly Upper Block Assembly Lower Block Assembly DSP PCB Motor Assembly Outside Shell Assembly Change History Date Revision Description of change Effective Change by E1 Initial Release 2 12 07 S Ng E2 Checklist Updated Add Task 240 3 8 07 S Ng E3 Added additional lockdown checks and pack amp ship checks 3 19 07 S Ng 62 Task 230 Document Preparation Task 230 Descriptions By Date Verify 230 1 Verify the following checklists attached with this document Checklist 66 0005 Upper Detector PCB Alignment _ Checklist 66 0005 Lower Detector PCB Alignment _ Checklist 66 0006 Upper Block Laser Alignment _ Checklist 66 0007 Lower Block Laser Alignment _ Checklist 66 0002 Motor Assembly _ Checklist 66 0003 DSP Board 230 2 Verify all S N s except Outer Shell Assy are filled in ion Page 1 of this document Task 240 Wiring Task 240 Descriptions By Date Verify 240 1 Verify all the laser cables are connected properly according to the color code diagram P N 70 0009
19. In this calculation we will use the same distance information from section 6 1 14mm 100mm 1 foot and 20 feet from the output window plus the additional distances of 5 feet 10 feet 16 feet 30 feet and 100 feet The calculation from section 6 1 will be repeated for these calculations with the changes in aperture size and acceptance levels Since the detector area is larger than the all laser spots except for the laser spot at 100 feet as shown in Table 1 the Detector Correction Factor in all cases is 1 even for the 100 foot case The case names have also been changed for better indication of the distance from the output window Condition 1 Single Pulse Maximum Permissible Exposure Limit The formula for calculating the detected single pulse energy density is Peak Power Pulse Width Number of Lasers Overlapping Detector Corr Factor Spot Area Case 4mm Detected Laser Energy Density 60 W 5 ns 2 1 000720 m 0 833 mJ m Case 100mm Detected Laser Energy Densitys 60 W 5 ns 2 1 000731 m 0 821 mJ m Case 1ft Detected Laser Energy Densitysp 60 W 5 ns 7 2 1 000507 m 1 183 mJ m Case 5ft Detected Laser Energy Densitysp 60 W 5 ns 1 1 000212 m 1 417 mJ m Case 10ft Detected Laser Energy Densityp 60 W 5 ns 1 1 000139 m 2 153 mJ m Case 16ft Detected Laser Energy Densityp 60 W 5 ns 1 1 000131 m
20. Required on all laser products 1010 2 Is the label a copy submitted with this report X Yes No Location on product On laser housing See Figure 1 FIGURE 1 3 2 Identification label Required on all laser products 1010 3 Is the label a copy submitted with this report X Yes Location on product __On laser housing See Figure 2 FIGURE 2 3 3 Warning logotype Required on Class Il Ill and IV laser products 1040 1 O g 1 2 3 4 8 9 10 Is the label or a copy submitted with this report Yes JNo Location on product N A 3 4 Warning label Required on Class lla laser products 1040 10 g 1 fi Is the label or a copy submitted with this report Yes X JNo Location on product N A 3 5 Aperture label s Required on Class Il Ill and IV laser products 1040 10 g 5 8 9 10 or 1040 11 a 3 Are the label s or copies submitted with this report Yes X JNo Location on product N A 3 6 Label s for noninterlocked protective housings 1040 10 g 6 8 8 10 Are the label s or copies submitted with this report Yes X JNo Location on product Are the label s visible both prior to and during opening or removal of housing Yes N A 3 7 Label s for defeatably interlocked protective housings 1040 10 g 7 8 9 10 Are the label s or copies submitted with this report Yes
21. Standard operating conditions refer to pulses of 100 ns pulse width at 1 kHz rate with 30 A operating current at 2006 04 12 Opto Semiconductors OSRAM Optical output power and forward voltage Me vs forward current 7 25 C 0564 120 Ww opt 100 80 60 40 20 40 A 50 0 10 20 30 j Far field distribution parallel to junction VS 0j T4 25 Pop 75 W 1 00 OHL00755 i 030 20 10 0 10 Deg 30 2006 04 12 SPL PL90_3 Optical spectrum relative intensity 7 vs wavelength A 7 25 Pop 75 W 1 00 Le 0 75 0 50 0 25 0280 890 900 90 nm 930 Far field distribution perpendicular to junction vs 6 74 25 Poy 75 W 100 OHL00756 Je 0 75 0 50 0 25 Or 30 20 10 0 10 20 Deg 0 0 Opto Semiconductors OSRAM SPL PL90_3 Ma zeichnung Package Outlines Bottom view 5 9 0 232 2 54 0 100 mm Chip position 5 0 0 197 0 6 0 024 1200165 0 4 0 016 29 0 1 142 Detail X Detail Y 0 1 0 004 0 7 0 028 5 1 0 201 GEOY 6066 Ma e werden wie folgt angegeben mm inch Dimensions are specified as follows mm inch 2006 04 12 5 Opto Semiconductors OSRAM SPL PL90_3 Published by OSRAM Opto Semiconductors GmbH Wernerwerkstrasse 2 D 93049 Regensburg Wwww
22. and reverse motion in the file The X Y Z and distance figures at the bottom of the image represent the distance of the x y z crosshairs with respect to the origin point indicated by the small white circle In live display mode click on the double arrow button to begin display The concentric gray circles and grid lines represent 10 meter increments from the sensor which is depicted on the screen by a white circle Utilizing the db XML calibration data file in DSR The db XML file provided with your Velodyne HDL 64E contains all of the necessary data for the proper alignment of the point cloud information gathered by the HDL sensor for each laser vertical correction deg rotational correction deg distance correction cm vertical offset cm horizontal offset cm minimum and maximum intensity 0 255 When implemented properly the image viewable from the Digital Sensor Recorder DSR will be properly calibrated to provide an accurate visual representation of the environment in which the sensor is being applied This data should also be used in any other program using the data generated by the HDL 64E WWW VELODYNE COM HDL 64E User s Manual 13 52 To integrate the db XML file into the DSR program follow these steps 1 Provided that DSR has been installed on the host computer using the default settings follow this path c program files Digital Sensor Recorder 2 Cut and paste the existing db XML file to another l
23. current Pulsbreite Halbwertsbreite Pulse width FWHM Tastverh ltnis Duty cycle Sperrspannung Reverse voltage Betriebstemperatur Operating temperature Lagertemperatur Storage temperature L ttemperatur 10 s 2 mm von Geh useunterseite Soldering temperature fmax 10 5 2 mm from bottom edge of case 2006 04 12 2 Opto Semiconductors OSRAM Optische Kennwerte 7 25 C Optical Characteristics Parameter Parameter SPL PL90_3 Werte Einheit Values Unit Zentrale Emissionswellenl nge Emission wavelength Spektralbreite Halbwertsbreite Spectral width FWHM Spitzenausgangsleistung Peak output power Schwellstrom Threshold current Betriebsspannung Operating voltage Minimale Anstiegs und Abfallzeit 10 90 Minimum rise and fall time 10 90 Austritts ffnung Aperture size Strahldivergenz Halbwertsbreite Beam divergence FWHM Temperaturkoeffizient der Wellenl nge Temperature coefficient of wavelength 3 3 3 3 0 75 gt lt Qa Ka 0 28 nm K Temperaturkoeffizient der opt Ausgangsleistung Temperature coefficient of optical power gt K Thermischer Widerstand Thermal resistance 160 gt o Standardbetriebsbedingungen beziehen sich auf eine Pulsbreite von 100 ns bei einer Frequenz von 1 kHz und einem Betriebsstrom von 30 A bei 25 C
24. heads are pulsed for example Lasers 1 and 2 The optical pulse duration is approximately 5 nanoseconds Four microseconds later 250 kHz burst frequency two other lasers Lasers 3 and 4 in each of the upper head are pulsed Four microseconds later two other lasers Lasers 5 and 6 are triggered This process repeats until all 16 lasers have been pulsed The overall period for this sequencing of the laser pulses is 32 microseconds This process of sequentially pulsing the 16 lasers in each of the upper heads repeats two additional times for a total of three cycles After these three cycles in the upper head a single sequencing cycle is conducted for the Lower Heads At the completion of this cycle the loop repeats 3 Upper Head Cycles then 1 Lower Head cycle While transmitting laser pulses the product will rotate at a rate of approximately 600 revolutions per minute 10 revolutions per second 5 2 Describe the external and internal laser radiation fields and paths Beam path diagrams indicating protective housing beam attenuators viewports scanners targets etc would be helpful Please identify external and internal laser power or energy levels where applicable Are description and diagrams of the laser radiation fields and paths attached X Yes Please identify attachment __ See Figure 3 10 mm _ NS LL FIGURE 3 DEPICTION OF THE PRODUCT LASER EMISSION 5 3 List the
25. 040 1 1 for a Laser Light Show Display or Device form FDA 3147 must be submitted following the instructions on the form A Laser Light Show report may also be required if you intend to produce shows or displays with Class Illb or Class IV demonstration laser products The Reporting Guide for Laser Light Shows and Displays should be filled out and submitted along with this report and the variance application following the instructions in each document Not Applicable 7 18 1 Is a Variance application being submitted along with this report JYes date of submission JNo Not Applicable 29 7 16 2 Is a Laser Light Show report being submitted along with this report Yes date of submission JNo Not Applicable PART 8 QUALITY CONTROL TESTS AND TESTING PROCEDURES 8 1 Attach and identify as attachments to Part 8 samples of documents that describe specify or relate to procedures or tests used to ensure compliance of your reported product with the standard including compliance with all performance labeling and informational requirements These may include X specification controls for critical components manufacturing and assembly control procedures inspection and test control procedures assembly and test traveler forms X inspection and test reports and checklists and or other s specify See Appenidx B for Laser Diode Specification critical component See Appendiz C for Inspe
26. 2 292 mJ m Case 206 Detected Laser Energy Densityp 60 W 5 ns 1 1 000125 m 2 404 mJ m Case 30ft Detected Laser Energy Densityp 60 W 5 ns 1 1 000244 m 1 227 mJ m Case 100ft Detected Laser Energy 5 60 W 5 ns 1 1 002063 m 0 146 mJ m The single pulse MPE is calculated from Table A1 of IEC 60285 1 MPEsp 5 103 J m Where C is derived Table 10 C 10 098 t Where _ 905 nm C 2 57 12 85 mJ m Condition 1 Conclusion Since all Cases are lower than the the Product has ENOHD for this Condition 18 Condition 2 Average Maximum Permissible Exposure Limit 1 second The average power is calculated similarly to the ENOHD Condition 1 except more lasers overlap in the Pulse Repetition period The formula for calculating the fixed detector position power is Detected Laser Energy 5 Pulse Repetition Rate Laser Overlap Head Overlap Sequential Duty Cycle Rotation Factor where the Laser Overlap is the number of times within the Base Repetition Period a laser emission illuminates the detector In Cases 4mm 100mm and 1ft there are 8 separate laser emissions that overlap the same spot size all lasers within the burst period overlap In Case 5ft this number is 2 to account for the maximum overlap within the head as the unit rotates In the remaining Cas
27. 21 mJ m 31 25 kHz 8 2 75 0428 13 17 W m Case 1ft Det Laser 1 183 mJ m 31 25 kHz 8 2 75 0204 9 03 W m Case 5ft Det Laser 1 417 mJ m 31 25 kHz 2 2 75 0049 0 66 W m Case 108 Det Laser Power 2 153 mJ m 31 25 kHz 1 2 75 0025 0 26 W m Case 166 Det Laser Power 2 292 mJ m 31 25 kHz 1 2 75 0016 0 17 W m 19 Case 206 Det Laser Power 2 404 mJ m 31 25 kHz 1 1 75 0013 0 07 W m Case 30ft Det Laser Power 1 227 mJ m 31 25 kHz 1 1 75 0009 0 02 W m Case 100ft Det Laser 0 146 mJ m 31 25 kHz 1 1 75 0003 0 001 W m The MPE average power Table A1 using 10 s emission duration MPE 10 C W m Where C is derived in Condition 1 2 57 And is derived from Table 10 1 MPE 25 7 W m Condition 2 Conclusion Since all Cases are lower than the MPE the Product has no ENOHD for this Condition Condition 3 Repetitive Pulse Maximum Permissible Exposure Limit 10 second exposure The calculated emission from ENOHD Condition 1 will be used to check for this Condition Case 4mm Detected Laser Energy Densitysp 0 833 mJ m Case 100mm Detected Laser Energy 0 821 mJ m Case 1ft Detected Laser Energy Densitysp 1 183 mJ m Case 5ft Detected Laser Energy Densitysp 1 417 mJ m Case 10f
28. 6 3 Give the specifications of all possible laser radiation fields described in Part 5 to which human access is possible during maintenance No user maintenance allowed or required Are specifications attached Yes X JNo 6 4 Give the specifications of all possible laser radiation fields described in Part 5 to which human access is possible during service No user service allowed or required Are specifications attached Yes X JNo 6 5 Describe all collateral radiation associated with the product Report the source s and levels and describe where and under what circumstances such radiation is accessible This product does not have any collateral radiation There is not any circumstance such that radiation is possible Is description attached Yes X 6 6 EXTENDED NOMINAL OCCULAR HAZARD DISTANCE ENOHD As this product is rated as a Class 1M product it is not intended for use with any products which use viewing optics such as binoculars However if an optic viewing device is used with this product the following calculations will determine the distance at which the laser emission level falls below the Maximum Permissible Exposure MPE level Note that this level is different than the Accessible Emission Limit AEL used in section 6 1 Also because these calculations are associated with a viewing optic the detector aperture is increased to 50mm as opposed to 7 mm in the previous calculations
29. Angles Each HDL 64E laser is fixed with respect to vertical angle and offset to the rotational index data provided in each packet For each data point issued by the HDL G4E rotational and horizontal correction factors must be applied to determine the point s location in 3 D space referred to by the return Each HDL 64E unit comes with its own unique XML file called db XML that was generated as a result of the calibration performed at Velodyne s factory DSR uses this XML file to display points accurately The XML file also holds the key to interpreting the packet data for users that wish to create their own interpretation and plotting routines db XML contains 64 instances of the following five values used to interpret the packet data rotCorrection This parameter is the rotational correction angle for each laser as viewed from the back of the unit Positive factors rotate to the left and negative values rotate to the right vertCorrection his parameter is the vertical correction angle for each laser as viewed from the back of the unit Positive values have the laser pointing up and negative values have the laser pointing down distCorrection Each laser has its own unique distance due to minor variations in the parts used to construct the laser This correction factor in centimeters accounts for this variance This number should be directly added to the distance value read in the packet vertoffsetCorrection his value represents
30. Drug Administration for laser array approval This Product consists of a 64 piece laser array that is mountable on top of a vehicle The array revolves around an axis sending out laser beams to collect terrain data This terrain data is used for obstacle detection during a vehicle excursion FOREWORD In recent years LASER Light Amplification by Stimulated Emission of Radiation devices have become less expensive and more commonplace Lasers are used in supermarket scanners CD and DVD players construction and surveying instruments laser pointers for presentations and for other medical and industrial purposes Also lasers are often used outdoors as part of orchestrated laser light shows at theme parks casinos and special events Lasers have become a ubiquitous part of consumer electronics In the United States laser safety is dealt with by regulations which are part of federal law How Lasers are Classified The level of a laser hazards in a product is defined by the Class the laser falls in Class is non hazardous and Class IV is the most hazardous There are two classifications to consider the Class of the product how much laser radiation is accessible to the user and the Class of the radiation how much laser radiation is accessible to service personnel The Class of the product is based upon the amount of laser radiation accessible to the user during normal operation of the product Although a product may be classifi
31. Hex Allen Wrench w T Handle P N 92 0098 Qty 1 9 64 Hex Allen Wrench w T Handle P N 92 0099 Qty 1 5 32 Hex Allen Wrench w T Handle P N 92 0096 Hex Socket Wrench Qty 1 7 64 Hex Socket Wrench Tweezer Qty 1 Tweezer 22A Taper Round Blunt 4 Lg SS P N 92 0101 67 P N 92 0102 Labels P N 63 131 Qty 1 Lens Cleaning Paper Sheets Pack Qty 1 Label Class 1 M Laser Warning Verify Model Serial and Mfg Date are written on the label using the black permanent marker pan MAX Power _mW Wave Length 905nm Complies with 21 CFR 1040 10 and 1040 11 except for deviations pursuant to Laser Notice No 50 dated 7 2001 LASER RADIATION DO NOT VIEW DIRECTLY WITH OPTICAL INSTRUMENTS CLASS 1M LASER PRODUCT AVOID EXPOSURE LASER RADIATION IS EMITTED FROM THESE APERTURES Model No Serial No Mfg Date VELODYNE Acoustics Inc MORGAN HILL CA USA 4 Label Warning Triangle P N 63 132 990 3 inside the crate Verify tool kit pouch and connection cables are put 990 4 Verify this Checklist is completed 68 Rework History 1 Page Date Reject Description Comments Date Failure Analysis Comments Date Description of Rework EA Comments Date Reject Description TE Comments Date Failure Analysis Comments Date Description of Rework Comments
32. Last Updated November 9 2007 HDL 64E RESOURCE MANUAL Laser Safety Parameters High Definition Lidar Sensor Velodyne TABLE OF CONTENTS os S 3 e mod SS ee a PERS See 3 POR WARS ee apre to 3 PART 1 Manufacturer and Report Identification 5 PART 2 Product Model Identification 6 PART Compliance with the Labeling Requirements 7 PART 4 Compliance with the Informational Requirements 9 PART 5 Description of Product 10 PART 6 Levels of Accessible Laser Radiation and Classification of the Laser Product 12 PART 7 Compliance with the Performance Requirements ee PART 8 Quality Control Tests and Testing Procedures 30 PART 9 Life and Endurance Testing 31 PART 10 Instrumentation and Calibration 36 Appendix A HDL 64E Users Manual 37 Appendix B Manufacturer s Laser Diode Specification 56 Appendix C Inspection Check List 62 INTRODUCTION The scope of this report is to submit this report to the Food and
33. NT PAINT ADDITIVES SMOOTH GLOSS 60 PK ADDITIVE TO MATCH PANTONE 877C OR VELODYNE APPROVED EQUIV d PLUG SCREW AND DOWEL PIN HOLES PRIOR TO PAINTING PROCESS 4X R 38 21 800 THRU SECTION C C SECTION B B 0 172 THRU FOR 1875 SST DOWEL PIN PRESS FIT 375 4X4 40 UNC 2B 7 38 4 FIGURE 6 2 FIGURE 6 3 9 REV DESCRIPTION A PRODUCTION RELEASE E15 1330 B ADD NOTE 5 SHT2 ADD 2X 4 40 5 2 ZONE B5 NOTE MASK DIA NO PAINT SECTION A A CMK 02 22 07 CMK 03 0507 Velodyne Acoustics Inc MXC 03 05 07 CMK 03 05 07 BASE HDL LIDAR M 030507 SENSOR MOUNTING B 50 904 B I er LILILILILILI LIFE HII EE H m 7 Mu FIGURE 6 4 FIGURE 6 5 33 N CCC 0 FIGURE 6 6 FIGURE 6 7 34 Is additional information documentation attached Yes 9 2 Design and ratings of electrical and electronic components Laser Datasheet attached as Appendix A Is additional information documentation attached X Yes JNo 9 3 Environmental stability of components such as filter materials coatings and adhesives Not applicable Is additional information documentation attached Yes X 9 4 Design and testing of features designed to meet Federal laser product performance requirements Is additional infor
34. Product Table 1 shows the beam spot size and area versus distance FORM THE Product s output window Distance Beam Beam Beam Area Width mm Height mm mm 14 mm 16 0 45 0 720 0 700 mm 17 0 43 0 731 0 1 foot 16 1 31 5 507 2 5 feet 14 5 14 6 211 7 10 feet 12 9 10 8 139 3 16 feet 15 4 8 5 130 9 20 feet 16 0 7 8 124 8 25 feet 20 6 9 3 191 6 30 feet 25 2 9 7 244 4 100 feet 101 6 20 3 2062 5 TABLE 1 LASER SPOT SIZE vs DISTANCE Pulsed Operation Characteristics peak power 60 W maximum pulse durations 5 nanoseconds pulse energy watt x 5 nanoseconds 300 per laser repetition rate 31 25 khz 32us burst rate 250 kHz 4 us 12 if applicable Not Applicable maximum irradiance or radiant exposure _ N A W J cm 2 max radiance or integrated radiance __N A__W or J cm 2 sr 1 Are measurement parameters diagrams calculations and or specifications submitted as an attachment to this report X Yes Please identify attachment See Below Table 1 above details the beam spot size versus distance Calculations for energy and power levels transmitted by the Product are conducted in this section Calculations for the Accessible Emission Limit are based on IEC 60285 1 and are also attached in this section It should be noted that is this document since the upper heads transmit 3 times more often than the lower head so 3 times the energy wi
35. WWW VELODYNE COM HDL 64E User s Manual 3 42 Side Mounting Mounting Base Figure 3 Side side HDL mounting illustration WWW VELODYNE COM HDL 64E User s Manual 4 EU Top Mounting Four 406 through holes for top mount option to secure the HDL to the vehicle Figure 4 HDL top mounting illustration Figure 4 shows the location of four 406 thru holes for top mounting For all mounting options be sure the HDL 64E is mounted securely to withstand vibration and shock without risk of detachment The unit need not be shock proofed it is designed to withstand standard automotive G forces The HDL 64E is weatherproofed to withstand wind rain and other adverse weather conditions The spinning nature of the HDL G4E helps the unit shed excess water from the front window that could hamper performance WWW VELODYNE COM HDL 64E User s Manual 5 44 Wiring The HDL 64E comes with a pre wired connector wired with power DB9 serial and standard RJ 45 Ethernet connectors The connector wires are approximately 25 in length Power Connect the red and black wires to vehicle power Be sure red is positive polarity THE HDL 64E IS RATED ONLY FOR 12 VOLTS Any voltage applied over 16 volts could damage the unit Expect the unit to draw 4 6 amps during normal usage NOTE The HDL 64E does not have a power switch It spins whenever power is applied The HDL 64E has a lockout circuit that prevents its lasers from firi
36. control Not Applicable Are electrical mechanical diagrams or additional information attached JYes X 7 6 2 Describe the function of the key actuated master control and how it renders the laser inoperable when the key is removed Not Applicable Are electrical mechanical diagrams or additional information attached JYes X No 25 7 6 3 Is the key removable in the On position Not Applicable JYes N A 7 7 Laser radiation emission indicator Required for Class Il Illa 16 or IV laser systems 1040 10 f 5 Not Applicable 7 7 1 Describe in detail the mechanical and electrical characteristics of all emission indicators installed pursuant to Section 1040 1O f 5 i or ii and give their locations Note that if the energy source and remote controller s are separable by more than 2 meters then each control must have an emission indicator Not Applicable Are electrical mechanical diagrams or additional information attached Yes X 7 7 2 Record the length of time each emission indicator of Class and IV laser systems is actuated prior to the emission of accessible laser radiation Emission indicator delay Sec Not Applicable 7 8 Protective eyewear Applicable to Class Il Illa 16 or IV laser systems 1040 1O f 5 iv State whether protective eyewear is supplied or recommended for use with the laser system If so confirm that any visible emission indicator can be clearly seen th
37. ct will still rotate when power is applied but the lasers would turn on sooner than the design threshold in the spin up cycle as the Product begins to rotate As long as the Product rotates the Product is still Class 1M In the false low failure mode the lasers will never turn on even when the Product rotates at full speed So the product will not function and it will not cause an emission hazard Is additional information attached Yes X JNo 7 4 3 State the rating of each safety interlock including the number of operational cycles before failure The accelerometer is specified to operate from 120g to 120g It is rated to withstand a maximum acceleration of 4000 g s The Mean Time to Failure for the accelerometer is 1 4 10 hours 7 5 Remote interlock connector Applicable to Class Illb IV laser systems 1040 10 f 3 Not Applicable 7 9 1 Describe the electrical and mechanical construction and operation of the remote interlock connector Give its circuit and physical location Not Applicable Are electrical mechanical diagrams or additional information attached JYes X No Not Applicable 7 9 2 Record the open circuit electrical potential difference between the terminals of the remote interlock connector __N A____ Volts Not Applicable 7 6 Key control Required for Class Illb or IV laser systems 1040 10 f 4 Not Applicable 7 6 1 Describe the electrical and mechanical construction of the key actuated master
38. ction Check List 8 2 If formal quality control and testing procedures have not been implemented or are not sufficient to assure that your product s will comply with the standard explain how you assure that your products comply and submit supporting documentation NOTE Section 1010 2 c requires that certification be based on a test in accordance with the standard of each unit or on a program in accordance with good manufacturing practices Failure to maintain an adequate testing program may result in disapproval of the program by CDRH 30 Describe those tests and controls used to ensure that the reported product will remain in compliance with the Federal laser product performance standard during its useful life Items to be addressed include 9 1 Dimensional stability and rigidity of mechanical parts and assemblies such as housings and mounts There should be no deviation in the operation of the final Product of the housing or mechanical assemblies Figures 6 1 thru 6 7 show the housing and internal assemblies FIGURE 6 1 31 NOTES UNLESS OTHERWISE SPECIFIE ALL DIMENSIONS ARE IN DECIMAL INCHES MATERIAL 6061 T6 ALUMINUM OR VELODYNE APPROVED EQUIVALENT FINISH 32 APPLY CLEAR ANODIZE OR VELODYNE APPROVED EQUIVALENT BREAK ALL SHARP EDGES FINISH a COLOR SILVER PANTONE 877C OR VELODYNE APPROVED EQUIVALENT b BASE PAINT CARDINAL BRAND PAINT P N 812252892 LIQUID PAINT OR VELODYNE APPROVED EQUIVALE
39. d variance 2 3 Does your laser product incorporate an unmodified certified laser product Yes X JNo If yes identify the manufacturer s brand s and model number s 2 4 Does your product incorporate a noncertified laser product Yes X JNo If yes identify the manufacturer s brand s model s and describe the type of product 2 5 Does your laser product incorporate a removable laser system or systems as defined in 1040 10 c 8 Yes X JNo If yes identify the manufacturer s brand s and model number s 2 6 If the laser product as introduced into commerce is not supplied with a laser or laser system or the product does not incorporate a laser or laser system report by manufacturer and model number which laser or laser system if any is recommended by you for use with the product N A 2 7 If you do not recommend a specific laser or laser system for use with the reported product state the specifications of the laser or laser system to be incorporated N A PART 3 COMPLIANCE WITH THE LABELING REQUIREMENTS For each of the following labels required for the product being reported provide a sample or a facsimile of each label Clearly indicate the locations on the product of all required labels in your response to this Part or to Part 5 Reference to diagrams photographs blueprints product literature etc is acceptable See Compliance Guide page 7 for assistance 3 1 Certification label
40. e defeated Protective Housing is only replaced at the Manufacturer 7 3 4 For each safety interlock designed to allow defeat describe the means of providing a visible or audible indication of defeat If the safety interlock is defeated LED D15 will illuminate indicating power is available to the laser assemblies 7 4 Safety interlock failure Applicable to all required safety interlocks 1040 1 0 f 2 iii that prevent access to Class 116 or IV levels of laser radiation This product is a Class IM device 7 4 1 Describe how each safety interlock is fail safe i e precludes removal or displacement of the interlocked portion of the protective housing upon failure of the safety interlock or is redundant This product contains a single interlock mechanism which allows the laser power supplies to turn on only when the Product is rotating at a sufficient speed The typical speed at which this circuit will turn on the laser power supplies is 360 revolutions per minute This accelerometer is located within the enclosure and is not accessible by the user in the Product Are electrical mechanical diagrams or additional information attached X Yes No See Figure 5 7 4 2 Describe the possible modes of failure of each safety interlock and the resultant effect upon the radiation safety of the laser product 24 The accelerometer could provide a false high or low output reading If the false high failure were to occur the Produ
41. ed as Class the product may incorporate a Class lla Il Illa 16 or Class IV laser diode internally This is the laser radiation accessible to service personnel during a service function For example a laser product such as a copy machine could have Class laser radiation accessible to the user Inside the product there could be Class IV laser radiation accessible to service personnel The principal concern for people is the possibility of being illuminated with a laser duringnormal operations Exposure to relatively bright light such as a laser when the eye is adapted to low light levels can result in temporary visual impairment Visual effects can last from several seconds to several minutes The Food and Drug Administration FDA has authority to regulate light emitting products and electronic product radiation The FDA regulates lasers under their Performance Standards for Light Emitting Products This FDA standard utilizes the American National Standard Institute ANSI Z136 1 recommended Maximum Permissible Exposure to prevent ocular tissue damage in allapplications The MPE is used to calculate the Nominal Ocular Hazard Distance NOHD which is the distance of a laser beam beyond which an individual may be exposed without risk of ocular tissue damage Every product using lasers has to be designed to ensure that it operates in accordance with best practice with regard to the safety of lasers LEDs and other optical haza
42. es there is no overlap so this number is 1 the Head Overlap is the number of Heads that will cross the fixed position detector in a single rotation In all Cases less than 2Oft the emissions form the heads may overlap so this number is 2 In Cases 20ft and above there is no overlap of left and right heads so this number is 1 the Sequential Duty Cycle is how often the Upper Head of the Product is triggered in the system operation This number is 0 75 and the Rotation Factor is determined differently from Section 6 1 Since the detector is larger than the spot size the ratio of the detector diameter to the circumference at the given distance from the output window is used Rotation Factor Detector Diameter Circumference of Detector Distance of Center of Rotation The Rotation Factors are Case 14mm 50 mm 2 86 14 mn 0796 Case 100mm 50 mm 2 86 100 mm 8 Case 1ft 50 mm 2 86 304 8 0204 Case 5ft 50 mm 2 86 1524 mm 0049 Case 10ft 50 mm 2 86 3048 mm 0025 Case 16ft 50 mm 2 86 4876 8 mm 0016 Case 20ft 50 mm 2 86 6096 mm 3 Case 30ft 50 mm 2 86 9144 mm 0009 Case 100ft 50 mm 2 86 30480 mm 0003 The detected Laser Power Density Calculations is then Case 14mm Det Laser 0 833 mJ m 31 25 kHz 8 2 75 0796 24 87 W m Case 100mm Det Laser POWerwr 0 8
43. g that prevents unnecessary human access Is additional information attached X No See Figure 4 FIGURE 4 22 7 1 2 Describe how the protective housing prevents access to unnecessary collateral radiation The laser is mounted inside of a solid tube Laser light has only one exit therefore collateral radiation is not possible Is additional information attached Yes X JNo 7 2 Safety interlocks Applicable for all laser products 1040 10 f 2 i 7 2 1 Provide a detailed mechanical diagram showing the location of each interlock incorporated into the laser product for radiation safety Is a mechanical diagram attached X Yes JNo Describe each interlock and explain how each such interlock prevents access to laser and or collateral radiation when each portion of the protective housing is opened This product contains an electro mechanical interlock The interlock works on centrifugal force and prevents the laser from firing when the Product is not rotating Is additional information attached JYes X JNo 7 2 2 Provide an electrical block diagram illustrating the logic of the interlock system Is an electrical diagram attached X See Figure 5 COMPARATOR ACCELEROMETER LASER POWER SUPPLIES FIGURE 5 ELECTRO MECHANICAL LASER INTERLOCK BLOCK DIAGRAM 7 2 3 For each safety interlock state whether actuation is intended during operation maintenance service or any combination
44. his protects the unit in the event of power or data loss during the firmware update WWW VELODYNE COM HDL 64E User s Manual 8 47 TROUBLESHOOTING Use this chart to troubleshoot common problems with the HDL 64E Unit doesn t spin Verify power connection and polarity Verify proper voltage should be 12 volts drawing about 3 4 amps Remove bottom cover and check inline fuse Replace if necessary Unit spins but no data Verify Ethernet wiring Verify packet output from another source e g Ethereal Wireshark No serial communication Verify RS 232 cable connection Unit must be active and spinning for RS 232 update It may take several tries for the update to be effective WWW VELODYNE COM HDL 64E User s Manual 9 48 SPECIFICATIONS Sensor 64 lasers detectors 360 degree field of view azimuth 0 09 degree angular resolution azimuth 26 8 degree vertical field of view elevation 2 up to 24 8 down with 64 equally spaced angular subdivisions approximately 4 lt 5 cm distance accuracy 5 15 Hz rotation rate update user selectable 50 meter range for pavement 10 reflectivity 120 meter range for cars and foliage 0 80 reflectivity gt 1M points per second lt 0 05 milliseconds latency Laser Class Im eye safe 4 x 16 laser block assemblies 905 nm wavelength 10 nanosecond pulse Adaptive power system for minimizing saturation and blinding
45. ll be transmitted from the upper head than the lower head the calculations in this document will conducted for only the upper head The analysis is also broken into four different distances from the laser sources IEC 60825 1 specifies that the laser power measurement be made 100 mm from the laser source using a 7 mm aperture for Class 1M We also conduct the safety calculations 100 mm from the output window 1 foot from the output lens and 20 feet from the output lens which is approximately the minimum laser spot size IEC 60285 1 dictates that the output power or energy be measured 100 mm from the source which in this product s case is an array of laser diodes The upper head is located approximately 86 mm from the output window of the product Therefore the first laser beam spot size will be check approximately 14 mm for the output window Case a 14 mm from the upper output window the beam dimension is 45 x 16 mm 720 mm Note Two lasers may be fired simultaneously in this case and both lasers overlap the stated beam dimension so the power calculations will be doubled for this case Case b At 100 mm from the upper output window the beam dimension is 43 x 17 mm 731 mm Note Two lasers may be fired simultaneously in this case and both lasers overlap the stated beam dimension so the power calculations will be doubled for this case Case c At 12 inches 304 8mm from output lens the dimension is 31x14 5mm 507 2 mm Case d
46. mation documentation attached Yes X 9 5 Other factors that might affect your product s radiation safety Not applicable Is additional information documentation attached Yes No NOTE Maintenance and or service instructions must include schedules for maintenance and replacement of those components related to the compliance of the product that may be expected to be replenished or replaced during the life of the product 35 PART 10 INSTRUMENTATION AND CALIBRATION Describe those tests and controls used to ensure that the reported product will remain in compliance with the Federal laser product performance standard during its useful life Items to be addressed include 10 1 List the instruments you use to determine compliance of the reported product with the standard Describe these instruments or provide copies of specification sheets Identify each detector s aperture size if applicable Not applicable However a Sony CCD TRV28 infrared vision camera was used to verify the calculations that were performed earlier in this report The camera provided the laser image pattern and it was used to determine the point of maximum intensity and thus verify the calculations Is additional information attached JYes X 10 2 Indicate how the measurement system collects or accounts for the total radiant energy or power specified in Section 1040 10 Not Applicable Is additional information attached JYes X
47. minate the detector over a period of 10 seconds to calculate to s This number shall be calculated using the following formula N Pulse Repetition Rate Laser Overlap Head Overlap Sequential Duty Cycle Rotation Factor Illumination Duration N 9 25 However if multiple optical pulses occur within an T 18us period as defined by Table 3 they are considered as a single pulse to determine N and the energies of the individual pulses are added to compared to AEL of T This is the case in Sub Cases b and For these Cases the number is calculate using the following formula 15 N Rotation Factor Sequential Duty Cycle Head Overlap Illumination Duration T De N 5 Case 0255 0 75 2 10 s 18 us 083 Case b 0145 0 75 2 10 s 18 5 gt 095 Case 0059 0 75 2 10 s 18 us 119 d C 31 25 kHz 1 1 0 75 0004 10 5 321 The limits are then calculated by sp C5 514 nd sp Cs Class 1M 7 10 t C from IEC 60285 1 Table 4 Where t 18 us and 4 2 57 497 nJ Class 1M Case a se m 497 083 Case b AEL in sp 497 095 47 2 nJ Case ain 497 119 59 1 nJ Case d AEL in sp 514 321 165 0 nJ
48. ng at low RPMs Ethernet This standard Ethernet connector is designed to connect to a standard PC See the next section on usage for UDP packet formats Serial Interface The connector also features an RS 232 DBS serial connector This connector allows for a firmware update to be applied to the HDL 64E Velodyne may release firmware updates from time to time It also accepts commands to change the RPM of the unit Cable Diagram If you wish to wire your own connector refer to Appendix A for a layout of the wiring pins USAGE Data Packet Construction The HDL 64E outputs UDP Ethernet packets Each packet contains a data payload of 1206 bytes that consists of 12 blocks of 100 byte firing data followed by six bytes at the end of each packet that contains a spin counter and firmware version information Each packet can be for either the upper or lower laser banks called laser blocks each bank contains 32 lasers The packet format is as follows 2 bytes of header info This header indicates whether the packet is for the upper block or the lower block The upper block will have a header of OxEEFF and the lower block will have a header of OxDDFF 2 bytes of rotational info This is an integer between and 35999 Divide this number by 100 to get degrees from 32 laser returns broken into 3 bytes each Each return contains two bytes of distance information in 2 centimeter increments and one byte of intensity information D 255
49. nt cloud visualization program called Digital Sensor Recorder DSR Install DSR on your computer It is recommended that you accept the default settings file locations etc during this process To launch DSR double click on the DSR icon created on the desktop during the installation With power applied to the sensor it will be rotating and the Ethernet line connected to the computer you can display the point cloud of data generated by the sensor Be sure to select the proper Ethernet input device which is the Options window Confirm in Properties Option pull down that all laser channels are selected or just select the channels you wish to view A mouse click on the Play triangle will result in the display of the current data using the double arrow button To view a pcap file previously saved use the Open command in the File pull down after the file is loaded you can begin the playback using the Play button You can zoom in and out of the scene by either using the scroll feature on your mouse or the key strokes described below Perspective can be changed by clicking the mouse and moving the cursor to rotate the image Be mindful that it is possible to completely invert the image and you may be looking at the image upside down which can be confusing During playback the Pause button double vertical bars will pause the image The Red square represents stop As with conventional VCR DVD commands the double triangles represent forward
50. ocation and rename as the default_db XML Copy and paste the db XML file provided on the CD to the DSR program folder previously opened Close out the windows and the program is ready to run Open the DSR program Click options properties Check that the new values are present and that they reflect the values in the example screen captures provided on the CD Fig 6 Your DSR viewer is now calibrated to your sensor D Wi Properties Scanner Properties Distance LSB FE gt Ecanner Position em X 0 0 0 0 2 0 0 Angle deg Roll 0 0 Pitch 0 1 Yaw 0 0 Laser Properties ID Enabled Intensity On Color Vertical Corr deg Rotational Corr deg 4 Distance Corr cm 4 Vert Offset Corr 4 Horiz Offset Corr cm 4 Min Intensity Max Intensity 29 z 36 000000 0 000000 4 000000 0 255 28 z 1 679890 0 500000 22 000000 0 000000 4 000000 0 255 25 v 1 339140 1 800000 38 000000 0 000000 4 000000 0 255 24 z 0 998555 3 700000 23 000000 0 000000 4 000000 0 255 3 z BR 659 6 200000 43 000000 0 000000 4 000000 0 255 2 z 0 317822 4 000000 32 000000 0 000000 4 000000 0 255 3i z 0 022350 1 400000 40 000000 0 000000 4 000000 o 255 30 0 0 362407 0 400000 25 000000 0 000000 4 000000 0 255 27 0
51. or back No user serviceable parts inside Refer servicing to qualified service personnel The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulated dangerous voltage within the product s enclosure that may be of sufficient magnitude to constitute a risk of electric shock 10 persons The exclamation point symbol is intended to alert the user to the presence of important operating and maintenance servicing instructions in the literature accompanying the product 1 Read Instructions All safety and operating instructions should be read before the product is operated 2 Retain Instructions The safety and operating instructions should be retained for future reference 3 Heed Wamings All warnings on the product and in the operating instructions should be adhered to 4 Follow Instructions All operating and use instructions should be followed 5 Heat The product should be situated away from heat sources such as radiators heat registers stoves or other products that produce heat 6 Power Sources The product should be connected to a power supply only of the type described in the operating instructions or as marked on the product 7 Cleaning The product should be cleaned only as recommended by the manufacturer 8 Nonuse Periods The power connection to the product should be disconnected when left unused for a long period of time 9 Object and Liquid Entry
52. orking principles and among these are LASER based systems that are used by the described prototype This system consists of a 64 infrared lasers mounted on top of a vehicle The system revolves around an axis sending out laser beams to collect terrain data This terrain data is used for obstacle detection during a vehicle excursion IR laser diodes are pulsed diodes and the stated power rating is peak While they have high peak power ratings the average power ratings are typically less than 1mW as they must run at a very low duty cycle They are suitable for rangefinder or similar applications These laser diodes come in plastic packages that look much like LEDs and since there is limited opportunity for cooling the devices and overheating is a concern power dissipation is one of the major limiting factors This has an important side benefit of making the product safe by guaranteeing continuous low power The Detection System described in the following report is using pulsed laser diodes activated with a very low duty cycle making the entire system a safety class product The following Product Heport contains construction and performance details describing how the Laser Obstacle Detection and Avoidance System fully complies with the FDA safety regulations LASER PRODUCT REPORT PART 1 MANUFACTURER AND REPORT IDENTIFICATION 1 1 Manufacturer Manufacturing Firm Velodyne Acoustics Address 345 Digital Drive Morgan Hill CA 95037 Cor
53. osram 0s com All Rights Reserved The information describes the type of component and shall not be considered as assured characteristics Terms of delivery and rights to change design reserved Due to technical requirements components may contain dangerous substances For information on the types in question please contact our Sales Organization Packing Please use the recycling operators known to you We can also help you get in touch with your nearest sales office By agreement we will take packing material back if it is sorted You must bear the costs of transport For packing that is returned to us unsorted or which we are not obliged to accept shall have to invoice you for any costs incurred Components used in life support devices or systems must be expressly authorized for such purpose Critical components may only be used in life support devices or systems with the express written approval of OSRAM OS critical component is a component usedin a life support device or system whose failure can reasonably be expected to cause the failure of that life support device or system or to affect its safety or effectiveness of that device or system Life support devices or systems are intended a to be implanted in the human body or b to support and or maintain and sustain human life If they fail it is reasonable to assume that the health of the user may be endangered 2006 04 12 6 Opto Semiconductors OSRAM
54. pper and lower blocks of 32 lasers each and the entire unit spins This design allows for 64 separate lasers to each fire thousands of times per second providing exponentially more data points per second and a much richer point cloud than conventional designs The unit inherently delivers a 360 degree horizontal field of view FOV and a 26 8 degree vertical FOV Additionally state of the art signal processing and waveform analysis are employed to provide high accuracy extended distance sensing and intensity data The HDL 64E is rated to provide usable returns up to 190 meters Laser Emitters Groups of 16 tc Housing Laser Entire unit spins Receivers x H Groups of 32 N at 5 15 Hz Motor Housing Figure 1 HDL 64E design overview The HDL 64E employs a direct drive motor system there are no belts or chains in the drive train WWW VELODYNE COM HDL 64E User s Manual 2 Ale INSTALLATION OVERVIEW Front Back Mounting The HDL 64E base provides two mounting options side mount and top mount See Figure 2 for front back mounting options Figure 3 for side side mounting and Figure 4 for top mounting instructions Four M8 1 25 x 12mm deep mounting points Four per side for a total of 16 Mounting Base Figure 2 Front and back HDL mounting illustration See Figure 2 This figure shows the HDL 64E s base plate screw locations with threaded inserts for standard M8 hardware
55. procedures performed during operation and indicate those collateral and laser radiation fields specified in Part 6 to which human access is possible when those procedures are being performed See definition of human access Section 1040 10 0 1 5 Operational procedures and accessible radiation When power is applied to the HDL 64E the Product will begin to rotate Once a minimum rotational speed is achieved the Lasers will be allowed to transmit This rotation speed is monitored by an accelerometer and comparator circuit The typical minimum speed of rotation before the lasers begin to transmit is 300 revolutions per minute The peak power emitted by each laser is controlled using a DSP controlled pulse charging circuit In addition the power supplies used to provide this pulse charge are limited in the amount of charge they can provide in the system So typically the Product can only operate the lasers at approximately half of their rated maximum power 45 watts To provide margin in the safety calculations this number has been raised to two thirds of the rated maximum power 60 watts Laser radiation is only possible when the Product is rotating at the above mentioned minimum rate When radiating the Laser emissions only occur through the Product s output window 5 4 List the procedures performed during maintenance and indicate those collateral and laser radiation fields specified in Part 6 to which human access is possible when tho
56. rds in order to minimize the risk of personal injury to staff or third parties In order to do this one written report as comprehensive as possible is submitted to FDA for final evaluation FDA will make it sure that it is following the correct procedures and taking the necessary precautions as laid down by the various standards FDA will test and certify the prototype or completed product to the appropriate standard or standards and provide a full test report including details of e Measurement test results Accessible emission limits e Required engineering controls e Required labeling Required information in user s manual and product brochures Failure modes of drive electronics and other reasonably foreseeable failures affecting safety In the United States compliance with the regulations for lasers and laser products issued by the Center for Devices and Radiological Health CDRH of the Food and Drug Administration FDA is mandatory The current CDRH regulations pertaining to laser emissions are found in 21 CFR 1040 10 and 1040 11 CDRH which is part of FDA has the task of enforcing the regulations The laser product regulation is known as 21 CFH 1040 10 This document represents the full completion of 21 CFR 1040 10 and 1040 11 and the calculations performed in this document were based on IEC standard 60285 1 Obstacle Detection and Avoidance Systems are very effective electronic navigation systems There are different w
57. responding official David Hall Signature Name amp title Chief Executive Officer Telephone number 408 465 2821 Firm s Prime Contact or Responsible Person if different from above Bruce Hall Name amp title President Velodyne Acoustics Inc Telephone number 408 465 2800 1 2 Importing agent For manufacturers exporting to the U S see 21 CFR 1005 25 Signature N A Or attach copy of written agreement with agent Name amp title N A Address N A Telephone number N A 1 3 Report type X Laser Product Report Supplement to CDRH Accession No submitted on date 1 4 Date of this report 04 26 07 PART 2 PRODUCT AND MODEL IDENTIFICATION 2 1 List all names brand names model numbers and model family designations of the laser product being reported If the product is sold by other companies under different brand names also give the names and addresses of the companies the brand names and the model numbers and indicate how the brand names and model numbers correspond with your own brand names and model numbers Product Name HDL 64E 2 2 Is your laser product the result of the modification of a laser product certified by another manufacturer see 1040 10 Yes X JNo If yes identify the manufacturer s brand s and model number s NOTE Modification involves any changes to the product that affect its classification performance or labeling requirements as required by the standard or an approve
58. ring 520 2 Verify all 32 Lasers on lower board are firing Task 550 Hardware Lock Down Task 550 Descriptions By Date Verify 550 1 Apply Loctite 242 Blue to all setscrews on the moveable counter weights on the round rods 550 2 Apply Loctite 242 Blue to the both 10 32 screws on the round counter weights on the upper block 550 3 Verify all screws inside the unit are tightened 550 4 Verify all cables inside the unit are security tied down 550 5 Verify all lens are clean and without any scratches 550 6 Verify the window on the shell is clean 550 7 Remove Jumper J34 on DSP board 550 8 Verify all S N s on Page 1 of Checklist 66 0001 is filled 550 9 Install O Ring P N 48 116 on the bottom of the Shell Mount Base Plate 550 9 Install the shell and apply Loctite 242 Blue to Shell screws with lock washers 550 10 Flip the unit upside down Verify there is no loose object inside the unit 550 11 Install the Square Base Assembly to the unit 65 550 13 Verify the use of the following hardware to mount the Rotary Coupling Connector Assy P N 82 507 to the bottom of the motor spindle Qty 3 4 40 x 3 8 Soc Cap screws P N 40 043SHCS With Loctite 242 Blue Qty 3 4 Lock washer P N 43 04SL Qty 3 4 Flat washer Special P N 43 04
59. riptive brochures for Class lla Il Ill and IV laser products Are copies of catalogs specification sheets or brochures attached to this report Yes X JNo If Yes please identify attachment If No please explain why not This Product is a Class 1M device PART 5 DESCRIPTION OF THE PRODUCT 9 1 Describe the product and its function You may refer to brochures and manuals submitted with this report Please include drawings or photographs adequate to document compliance of the product with the performance and labeling requirements Is a product description attached to this report X Yes Please identify attachment The product consists of 64 piece laser array that is mountable on top of a vehicle The array revolves around an axis sending out laser beams to collect terrain data This terrain data is used for obstacle detection The product is comprised of 4 Laser Assemblies consisting of 16 Lasers each totaling 64 lasers Two Laser Assemblies are located in the upper plane which are referred to as Upper Left Head and Upper Right Head and two Laser Assemblies located in a lower plane referred to as Lower Left Head and Lower Right Head The Lower Heads are oriented so that aimed at the ground near the product The Upper Heads are oriented so that these laser pulses are substantially directed also towards the ground but to a further distance than the Lower Heads Initially two lasers in each of the upper
60. rough the protective eyewear Not Applicable Is protective eyewear supplied Yes X Not Applicable Is it recommended Yes Not Applicable Can visible emission indicators be seen through eyewear JYes Not Applicable 7 9 Beam attenuator Required for Class Illa or IV laser systems 1040 10 f 6 Not Applicable 26 7 9 1 For each beam attenuator describe the mechanical and electrical characteristics and how when actuated the attenuator prevents access by any part of the human body to all laser and collateral radiation in excess of the accessible emission limits of Class and Table Not Applicable Are electrical mechanical diagrams or additional information attached Yes X 7 9 2 Describe the permanency of attachment of each attenuator Not Applicable NOTE You may apply for approval of alternate means of providing this protection if a beam attenuator is inappropriate to the product 7 10 Location of controls Applicable to Class Il Illa 16 or IV laser products 1040 10 f 7 Explain how the location of each of the operation and adjustment controls of the laser product is such that human exposure to laser or collateral radiation in excess of the accessible emission limits of Class and Table VI is prevented during operation or adjustment of such controls Not Applicable 7 11 Viewing optics Applicable to all laser products 1040 10 f 8
61. s an integer between and 900 The characters are case sensitive and must be CAPS The HDL 64E will adopt the new spin rate Use the following serial parameters Baud 9600 Parity None Data bits 8 Stop bits 1 The HDL G4E has no echo back feature so no serial data will be returned from the HDL 64E FIRMWARE UPDATE Velodyne may issue firmware updates from time to time To apply the update connect the DBS RS 232 cable to a standard Windows compatible PC s serial port The HDL G4E must be powered up and spinning during the update Execute the file supplied by Velodyne all the software and firmware is included to update the unit Once the file is executed the following screen will appear amp Velodyne HDL Software Update m Velodyne i Velodyne HDL Software Update 1 1 COM Port Figure 5 HDL software update Copyright c 2007 Screen capture Velodyne Acoustics Inc x Update Status Select port and press Update Press update and the unit will update If the update was successful the unit will begin to spin down for a few seconds then power back up with the new firmware running If the first update is not successful it is recommended to try the update again several times before seeking assistance from NOTE The entire new firmware is uploaded and checksummed before being applied to the flash memory inside the HDL 64E If the checksum is corrupted no software update occurs T
62. se procedures are being performed See the definition of maintenance in section 1040 10 b 24 and Compliance Guide page 5 Maintenance procedures and accessible radiation No maintenance allowed by the user on this product 5 5 List the procedures performed during service and indicate those collateral and laser radiation fields specified in Part 6 to which human access is possible when those procedures are being performed Service procedures and accessible radiation No service allowed by the user on this product 11 PART 6 LEVELS OF ACCESSIBLE LASER RADIATION AND CLASSIFICATION OF THE LASER PRODUCT 6 1 Give the specifications of all laser radiation fields described in Part 5 to which human access is possible during operation See Section 1 4 1 for measurement parameters Indicate whether the values are measured or based on calculations Whether measured or calculated please provide a diagram of your measurement calculation set up and pertinent dimensions such as separation distances source and detector aperture size etc in order to show how your measurements or calculations are in accordance with 1040 1 e Please provide as much of the following as is appropriate to your product wavelength s 805 nm maximum average radiant power Get from Table 1 Below beam divergence 3 5 mrad horizontally 0 5 mrad vertically Using the 30 to 100 foot data from Table 1 The beam spot size varies with distance from the
63. stems manufactured after August 20 1986 Provide the circuit and physical description and location of the means provided to require manual restart following interruption of emission caused by power failure of at least 5 seconds or deactivation through the remote interlock connector Not Applicable 7 14 Medical laser product Applicable to Class Ill or IV medical laser products intended for in vivo surgical therapeutic or diagnostic irradiation of the human body NOTE The requirement in section 1040 11 a does not apply to visible aiming beams less than the accessible emission limits of Class llla except for ophthalmic indications If your product is a Class or IV medical laser product provide the following information 7 14 1 Describe the means incorporated into the product to measure the level of laser radiation intended for irradiating the human body include circuit diagrams and or optical system diagrams Not Applicable Are electrical mechanical diagrams calculations or additional information attached Yes Not Applicable 7 14 2 Specify the uncertainty in the measurement system and describe the method by which it was derived Not Applicable 28 Are calculations or additional information attached Yes Not Applicable 7 14 3 Is the displayed power energy level measured at the point of delivery or earlier and then calculated If the displayed level is calculated incorporating system constants
64. t Detected Laser Energy Densitysp 2 153 mJ m Case 166 Detected Laser Energy Densitysp 2 292 mJ m Case 20ft Detected Laser Energy Densitysp 2 404 mJ m Case 30ft Detected Laser Energy Densitysp 1 227 mJ m Case 100ft Detected Laser Energy 0 146 mJ m We must determine the number of laser emissions that will illuminate the detector over a period of 10 seconds to calculate to A s This number shall be calculated using the following formula N Pulse Repetition Rate Laser Overlap Head Overlap Sequential Duty Cycle Rotation Factor Illumination Duration Ce N 2 25 However if multiple optical pulses occur within an T 18us period as defined by Table 3 they are considered as a single pulse to determine N and the energies of the individual pulses are added to compared to MPE of T This is the case in Cases 14mm 100mm and 16 For these Cases the number is calculated using the following formula N Rotation Factor Sequential Duty Cycle Head Overlap Illumination Duration T D Case 14mm C 0796 0 75 2 10 s 18 us 27 0623 Case 100mm C 0428 0 75 2 10 s 18 us 0728 Case 1ft C 0204 0 75 2 10 s 18 us 0876 Case 5ft C5 Case 10ft Case 16ft 31 25 kHz 1 0 75 0016 Case 20ft 31 25 kHz 1 1 0 75 0013 20 31 25 kHz 2 2 0 75 0049
65. the height of each laser as measured from the bottom of the base It is a fixed value for all upper block lasers and a different fixed value for all lower block lasers horizOffsetCorrection This value represents the horizontal offset of each laser as viewed from the back of the laser lt is a constant positive or negative value for all lasers Use the above values from the XML file to calculate each point s position in 3 D space Use the first 32 points for the upper block and the second 32 points for the lower block The rotational info found in the header is used to determine the packets position with respect to the 360 degree horizontal field of view Note There is a file on the CD called HDL Source Example that shows the calculations using the above correction factors WWW VELODYNE COM HDL 64E User s Manual 7 46 Controlling the Spin Rate The HDL 64E can spin at rates ranging from RPM 5 Hz to BOO RPM 15 Hz The default is 600 RPM 10 Hz Note that changing the spin rate does not change the data rate the unit will send out the same number of packets at a rate of one million data points per second regardless of spin rate The image resolution will increase or decrease depending on rotation speed See Appendix B for angular resolution figures for various spin rates To control the HDL s spin rate connect the serial cable to an available RS 232 COM port and issue a serial command of the format HDLRPMnnn where nnn i
66. the output window Rotation Factor Spot Width Circumference of Detector Distance of Center of Rotation The Rotation Factors are Case a 16 mm 2 86 14 mm 5 Case b 17 mm 2 86 100 mm 5 c 16 1 mm 2 86 304 8 mm 0066 Case d 16 mm 2 86 6096 mm 0004 Case a Det Laser Power 32 0 nJ 31 25 kHz 8 75 0255 0 31 kaas b Det Laser Power 31 6 nJ 31 25 kHz 8 2 75 0145 0 17 Gw c Det Laser Power 22 7 nJ 31 25 kHz 2 75 0066 0 021 Case d Det Laser Power 92 5 nJ 31 25 kHz 1 1 75 0004 0 0009 m The Class 1M average power AEL is calculated from Table 4 using 10 s emission duration Class 1M AELgp 3 9 10 C Where C is derived in Condition 1 2 57 And is derived from Table 10 1 Class 1M AEL 1 mW Condition 2 Conclusion Since all Cases are lower than the Class 1M AEL the Product is rated as Class 1M for this Condition Condition 3 Repetitive Pulse Accessible Emission Limit 10 second exposure The calculated emission from Condition 1 will be used to check for the Laser Classification for this Condition Case a Detected Laser Energysp 32 1 nJ Case b Detected Laser Energysp 31 6 nJ Case c Detected Laser Energysp 22 7 nJ Case d Detected Laser Energysp 92 5 nJ We must determine the number of laser emissions that will illu
67. thereof The actuation of the interlock is intended to prevent any safety issues during normal operation or in the event of a system failure Is additional information attached JYes X 23 7 2 4 For each safety interlock state the highest level of laser radiation and collateral radiation to which access is prevented In the event the product does not spin or does not properly pulse the safety interlock will prevent any collateral radiation 7 3 Defeatable safety interlocks Applicable to all laser products 1040 10O f 2 ii and iii 7 3 1 Identify which safety interlocks are designed to allow defeat and describe how they operate The safety interlock can only be defeated when the product cover is removed This should only be done at by the manufacturer Once removed a jumper must be used to short J34 pins 1 and 2 to allow the lasers to operate as if the unit was rotating Is additional description attached Yes X JNo 7 3 2 For each safety interlock designed to allow defeat state whether defeat is intended during operation maintenance service or any combination thereof The safety interlock is only intended during manufacture service and maintenance It is not accessible to the user in the final Product 7 3 3 For each safety interlock designed to allow defeat describe how replacement of a removed or displaced portion of the protective housing is not possible while the safety interlocks ar
68. ttieren diese Bauteile hochkonzentrierte nicht sichtbare Infrarot Strahlung die gef hrlich f r das menschliche Auge sein kann Produkte die diese Bauteile Features Low cost plastic package Reliable strained InGaAs GaAs material High power large optical cavity LOC structure for a narrow far field Nanostack laser technology including multiple epitaxially stacked emitters Laser aperture 200 um x 10 um Applications Range finding Seaurity surveillance Illumination ignition Test and measurement systems Safety Advices Depending on the mode of operation these devices emit highly concentrated non visible infrared light which can be hazardous to the human eye Products which incorporate these enthalten m ssen gem den Sicherheits devices have to follow the safety precautions richtlinien der IEC Norm 60825 1 behandelt given in 60825 1 Safety of laser products werden Typ Emitteranzahl Opt Spitzenaus Wellenl nge Bestellnummer SPL PL90 3 gangsleistung Number of Emitters Opt Peak Power Ordering Code Q62702P5353 Wavelength 2006 04 12 Opto Semiconductors OSRAM 56 SPL PL90_3 Grenzwerte kurzzeitiger Betrieb 7 25 C Maximum Ratings short time operation Parameter Symbol Werte Einheit Parameter Symbol Ima Unit Spitzenausgangsleistung P ik Peak output power Spitzendurchla strom Peak forward
69. unctions Ctrl Z Y BR E B L H U D Direction Fine Movement Alt Z Y BR FE B L H U D Direction Very Fine Movement DSR Mouse Controls Rotational Left Button Move Slide Right Button Zoom Scroll forward Zoom In Scroll backward Zoom Out WWW VELODYNE COM HDL 64E User s Manual 15 54 Velodyne Acoustics Inc 345 Digital Drive Morgan Hill CA 95037 408 465 2800 voice 408 779 9227 fax 408 779 9208 service fax www velodyne com Service E mail service velodyne com Product E mail help velodyne com Technical E mail techhelp velodyne com Sales E mail lidar velodyne com ED 63 HDL 54E Rev C 0CTO7 WWW VELODYNE COM HDL 64E User s Manual 16 55 APPENDIX MANUFACTURER S LASER DIODE SPECIFICATION Nanostack Impuls Laserdiode im Plastikgehause 75 W Spitzenleistung Nanostack Pulsed Laser Diode in Plastic Package 75 W Peak Power Lead Pb Free Product ROHS Compliant SPL PL90_3 Besondere Merkmale Kosteng nstiges Plastikgeh use Zuverl ssiges InGaAs GaAs kompressiv verspanntes Halbleiter Material Hochleistungslaser mit Large Optical Cavity LOC Struktur f r ein schmales Fernfeld Nanostack Lasertechnologie beinhaltet mehrere epitaktisch integrierte Emitter Austritts ffnung 200 um x 10 um Anwendungen Entfernungsmessung Sicherheit berwachung Beleuchtung Z ndung Test und Messsysteme Sicherheitshinweise Je nach Betriebsart emi
70. w exposure of the eye to laser or collateral radiation in excess of the accessible emission limits of Class and Table VI is prevented in the event of failure of the shutter or variable attenuator as required by Section 1040 1O f 8 ii 27 N A This product does not have a shutter and does not have an attenuator This product does not have collateral radiation Are diagrams or additional information attached Yes X 7 12 Scanning safeguard Required for certain laser products with scanned laser radiation 1040 10 f 9 Describe the mechanical electrical and functional characteristics of any required scan failure safeguard Include calculations to show that the safeguard s reaction time is adequate for compliance with this section The scanning safeguard consists of a centrifugal switch In the event of a system failure the spin down time of the laser assembly is approximately 10 seconds The centrifugal switch has a reaction time of 10 milliseconds therefore this centrifugal switch has a superior response time Are electrical mechanical diagrams calculations or additional information attached Yes X NOTE A safeguard is required when scan failure would cause the product to exceed the emission limits of the class of the product or in the case of Class or IV laser products would cause the accessible emission limits of Class to be exceeded 7 13 Manual reset Applicable to Class IV laser sy

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