RPLIDAR S2
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Overview
Introduction
The RPLIDAR S2 series is a new generation of low-cost two-dimensional lidar (LIDAR) developed by SLAMTEC, which has a high-speed laser ranging sampling capability of 32,000 times per second. It also adopts non-contact energy and signal transmission technology, which overcomes the life limitations of traditional lidar and can operate reliably and stably for a long time.
The RPLIDAR S2 series is a 2D laser ranging radar, with different models capable of performing 360° all-around laser ranging scans within a 2D plane with radii of 18m, 30m, and 50m, respectively, and generating planar point cloud map information of the surrounding space. This point cloud map information can be used in practical applications such as map mapping, robot positioning and navigation, and object/environment modeling.
Compared to other series of LiDAR, the RPLIDAR S2 series offers more stable ranging performance when detecting distant objects, switching between black and white objects, and objects under direct strong light. It can achieve ideal mapping effects within an 18-meter ranging radius in both indoor and outdoor environments, expanding its application range to more consumer and commercial scenarios.
The typical scanning frequency of the RPLIDAR S2 series is 10Hz (600rpm), and at a 10Hz scanning frequency, a 32k sampling frequency can achieve an angular resolution of 0.1125°.
Thanks to the improved hardware performance and optimized algorithms, the RPLIDAR S2 series performs excellently in various indoor environments and outdoor environments with strong direct sunlight. Meanwhile, each RPLIDAR S2 series unit undergoes rigorous testing before leaving the factory to ensure the emitted laser power meets the IEC60825 Class 1 eye safety standard.
Specifications
Performance Parameters
Laser Power Information
| Item | Unit | Min. | Typical | Max. | Note |
|---|---|---|---|---|---|
| Laser wavelength | nm | 895 | 905 | 915 | Infrared band |
| Laser power | W | - | 25 | - | Peak power |
| Pulse duration | ns | - | 5 | - | - |
| Laser safety level | - | - | IEC-60825 Class 1 | - | - |
Note: The laser power is the continuous emission power, and the actual average power will be much lower than this value.
Usage Scenarios
- Generalized Simultaneous Localization and Mapping (SLAM)
- Environmental scanning and 3D reconstruction
- Service robots and industrial fields requiring long-term continuous operation
- Home care/cleaning robot navigation and positioning
- General robot navigation and positioning
- Positioning of smart toys and obstacle detection
Specification Information
Optical Window
To ensure the normal operation of the RPLIDAR S2 series, make sure that the external system design allocates sufficient space for the RPLIDAR S2 series to emit and receive laser signals. Partial occlusion of the ranging window by external systems will affect the ranging performance and accuracy of the RPLIDAR S2 series to some extent. If you have special requirements or need to wrap the RPLIDAR with a transparent material, please contact technical support to inquire about feasibility.
Please refer to the Mechanical Dimensions section of this document for specific optical ranging window size information.
Definition of Scanned Data Coordinate System
The RPLIDAR S2 series adopts a coordinate system that follows the left-hand rule, with the sensor's forward direction defined as the x-axis of the coordinate system, the origin of the coordinate system being the rotation center of the ranging core, and the rotation angle increasing as it rotates clockwise. The specific coordinate system definition is shown in the figure below:
Communications and Interfaces
S2, S2L and S2P
The RPLIDAR S2, S2L, and S2P use a separate 5V DC power supply to power the ranging system and the motor system simultaneously. The standard RPLIDAR S2, S2L, and S2P use the XH2.54-5P specification male socket, and the specific interface definition is shown in the figure below:
| Color | Signal Name | Type | Description | Min. | Typical | Max. |
|---|---|---|---|---|---|---|
| Red | VCC | Power supply | Total power supply | 4.9V | 5V | 5.2V |
| Yellow | TX | Output | Ranging core serial port output | 0V | / | 3.5V |
| Green | TX | Intput | Ranging core serial port input | 0V | / | 3.5V |
| Black | GND | Power supply | Ground | 0V | 0V | 0V |
| Blue | NC | / | Recommended grounding not used in the radar | / | / | / |
Power supply interface
The RPLIDAR S2, S2L, and S2P use a unique external power supply to drive both the ranging core and the rotating scanning motor system. The external system needs to ensure that the current output capability and ripple characteristics of the power supply ensure that the radar is used normally.
| Item | Unit | Min. | Typical | Max. | Note |
|---|---|---|---|---|---|
| Supply voltage | V | 4.9 | 5 | 5.2 | Insufficient power supply can lead to inaccurate ranging |
| Supply voltage ripple | mV | - | - | 150 | Excessive power supply noise can lead to increased radar radiation |
| System startup current | mA | - | 1500 | - | The motor startup requires a large current |
| Supply current | mA | - | 500 | 600 | 5V power supply, 10Hz scanning frequency |
Note: Insufficient power supply may cause inaccurate ranging and insufficient motor speed during chiller startup. It is recommended to provide adequate power to the radar. When the radar is operating normally, the voltage measured at the radar's external interface should be greater than 5V.
Data communication interface
The communication interfaces of RPLIDAR S2, S2L, and S2P use a 3.3V level serial port (UART). The transmission rate and protocol specifications are shown in the table below:
| Item | Unit | Min. | Typical | Max. | Note |
|---|---|---|---|---|---|
| Baud rate | M | - | 1 | - | - |
| Working mode | - | - | 8 data bits, 1 stop bit | - | 8n1 |
| Output high level | V | 2.9 | 3.3 | 3.5 | Output signal high-level voltage value |
| Output low level | V | - | - | 0.4 | Output signal low-level voltage value |
| Input high level | V | 2.4 | 3.3 | 3.5 | Input signal high-level voltage value |
| Input low level | V | 0 | - | 0.4 | Input signal low-level voltage value |
S2E
Data communication interface
S2E communicates using ETHERNET UDP method, with an RJ45 interface. Its transmission standards and rates are shown in the table below:
| Interface | Standard | Speed |
|---|---|---|
| Ethernet | 802.3/802.3u | 10/100M |
Network port interface
Power supply interface
| Location | Signal name | Type | Description | Min. | Typical | Max. |
|---|---|---|---|---|---|---|
| 1 | VCC | Power supply | System power | 9V | 12V | 28V |
| 2 | GND | Power supply | Synchronous output | - | 0V | - |
| 3 | NA | Unconnected | Cannot be grounded or connected to other electrical sources | - | - | - |
| 4 | NA | Unconnected | Cannot be grounded or connected to other electrical sources | - | - | - |
Power supply interface specifications
The S2E uses the only external power supply that simultaneously drives the ranging core and the motor system that rotates the ranging core. The external system needs to ensure the current output capability and ripple characteristics of this power supply to ensure normal radar operation.
| Item | Unit | Min. | Typical | Max. | Note |
|---|---|---|---|---|---|
| Supply voltage | V | 9 | 12 | 28 | Insufficient power supply can lead to inaccurate ranging |
| Supply voltage ripple | V | - | - | ±3%1 | Excessive power supply noise can lead to increased radar radiation |
| Startup current | mA | - | 1200 | 1500 | 12V power supply, low voltage start-up requires relatively large current |
| Operating current | mA | - | 200 | 220 | 12V power supply |
Note 1: Supply voltage ripple=Supply voltage * 3%
Scanning Motor Control
The RPLIDAR S2 series has a closed-loop motor control system inside, which enables relatively precise rotational speed control. The user can change the rotation speed of the motor by sending the motor speed setting command.
Note: The motors of the RPLIDAR S2 series cannot be started and stopped individually; they must be controlled using the corresponding radar scanning commands. To control the speed of radar rotation, provide sufficient power to the radar.
Other Parameters
| Item | Unit | Min. | Typical | Max. | |
|---|---|---|---|---|---|
| Weight | S2, S2L, S2P | g | - | 185 | - |
| S2E | g | - | 190 | - | |
| Start temperature | ℃ | 0 | - | - | |
| Operating temperature range | ℃ | -10 | 25 | 50 | |
| Storage temperature | ℃ | -20 | 25 | 60 | |
Mechanical Dimensions
The dimensional specifications of the RPLIDAR S2, S2L, and S2P assemblies are shown in the figure below:
The dimensional specifications of the RPLIDAR S2E assembly is shown in the figure below:
Host Device Software Description
- Connect the radar to the adapter board, and connect the adapter board to the computer via USB.
- Open Device Manager to check the COM port for CP210x.
- If the device is not detected, you will need to download CP210x_Driver.zip and install the driver.
- Download robostudio.zip and install RoboStudio, run the RoboStudio.exe after installation, register an account and log in.
- Open the RoboStudio interface, click "File" -> "Radar" option, a radar floating window pops up on the left, right-click at this window, two options will appear, select “Connect Radar Manually".
- After selecting, the following pop-up window will pop up, select the COM port you saw earlier at the USB point, and click "Connect" after selection.
- After connecting, you can see the radar in the window, click the triangle button in the upper left corner, and the radar will start scanning.
- At this time, you can see the radar scan results on the screen.
Resources
Documents
- S2, S2L, S2P Development Kit User Manual
- S2, S2L, S2P Communication Protocol
- S2E Development Kit User Manual
- S2E Communication Protocol
SDK
ROS Package
Support
Technical Support
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